Ecncrc 126

Research Article ISSN: 2319-507X
Shital Wasu, IJPRE, 2013! "#lu$e 1%&':2()-259 IJPRE

Available Online At www.ijpret.com

INTERNATIONAL JOURNAL OF PURE AND
APPLIED RESEARCH IN ENGINEERING AND
TECHNOLOGY
A PATH FOR HORIZING YOUR INNOVATIVE WORK

BACK EMF DETECTION METHODS FOR SENSORLESS BRUSHLESS DC MOTOR
DRIVES USING MATLAB/SIMULINK
SHITAL M.WASU, PROF. UDAY B. SARODE
1. Studet M.E. !P"#e$ S%&te'(, E)e*t$+*,) E--. De.t., PVG/& COET, Pue.
0. A&&+&t,t P$"1e&&"$, E)e*t$+*,) E--. De.t., PVG/& COET, Pue.

Accepted Date:
02/30/0314Pu!"#$
Date:
31/35/0314
Ke%&'(d#
Bldc Motor;
State Space Model;
Sensor less,
Back Emf Zero Crossing
Detection
C"$$e&."d+- Aut6"$
M$. M,u)+7 P,te)
A#t(act
Brushless dc (BLDC) motors and their dries are penetrating
the market of home appliances, !"#C industr$, and
automotie applications in recent $ears %ecause of their high
efficienc$, silent operation, compact form, relia%ilit$, and lo&
maintenance' (raditionall$, BLDC motors are commutated in
si)*step pattern &ith commutation controlled %$ position
sensors' (o reduce cost and comple)it$ of the drie s$stem,
sensor less drie is preferred' (he e)isting sensor less control
scheme &ith the conentional %ack EM+ sensing %ased on
motor neutral oltage for BLDC has certain dra&%acks, &hich
limit its applications' (o oercome these dra&%acks this paper
presents a state space modelling, simulation and control of
permanent magnet %rushless DC motor' B$ reading the
instantaneous position of the rotor as an output, different
aria%les of the motor can %e controlled &ithout the need of
an$ e)ternal sensors or position detection techni,ues' -n this
paper BLDC motor &ith ideal %ack*EM+ is modelled and
simulated in M#(L#B . S-M/L-01' Simulation model of the
controller and BLDC drie are also presented' -n order to
alidate the model arious simulation models are studied'



1. INTRODUCTION
Brushless dc (BLDC) motors hae %een
desired for small horsepo&er control
motors due to their high efficienc$, silent
operation, compact form, relia%ilit$, and
lo& maintenance' !o&eer, the control
comple)it$ for aria%le speed control and
the high cost of the electric drie hold %ack
the &idespread use of %rushless dc motor'
2er the last decade, continuing technolog$
deelopment in po&er semiconductors,
microprocessors.logic -Cs, ad3usta%le speed
driers (#SDs) control schemes and
permanent*magnet %rushless electric motor
production hae com%ined to ena%le
relia%le, cost*effectie solution for a %road
range of ad3usta%le speed applications'
!ousehold appliances include clothes
&ashers, room air conditioners,
refrigerators, acuum cleaners, free4ers,
etc' 5ater heaters, hot*&ater radiator
pumps, po&er tools, garage door openers
etc'Brushless DC (BLDC) motor simulation
can %e simpl$ implemented &ith the
re,uired control scheme using speciali4ed
simulink %uilt*in tools and %lock sets such as
simpo&er s$stems tool%o)' But it re,uires
po&erful processor re,uirements, large
random access memor$ and long simulation
time' (o oercome these dra&%acks this
paper presents a state space modelling,
simulation and control of permanent
magnet %rushless DC motor' B$ reading the
instantaneous position of the rotor as an
output, different aria%les of the motor can
%e controlled &ithout the need of an$
e)ternal sensors or position detection
techni,ues'
-n this paper, the motor is designed %ased
on state space model to get information
a%out the state of the s$stem aria%les at
some predetermined points along the flo&
of signals' B$ adopting this model, po&erful
processor re,uirement, large random
access memor$ can %e aoided &ith more
design fle)i%ilit$ and faster results can %e
o%tained'
0. MODELING THE BRUSHLESS DC MOTOR
(he modeling of %rushless dc motor
inoles soling man$ simultaneous
differential e,uations, each depending
upon the inputs to the motor and the
simulation constants' Simulation constants
are alues like the phase inductance that do
not change during simulation' (herefore


these parameters can %e treated as
constants during a simulation' !o&eer, the
model proides for dialogue %o)es that can
%e used to ar$ the alues of these
constants' (he e,uations for the %rushless
dc motor are listed as under' Star &ound
rotor is assumed' (he core %lock for the
%rushless dc motor has %een &ritten as a
state space model' During the course of the
pro3ect, man$ approaches &ere tried and it
&as reali4ed that state space modelling
ena%led accurate and eas$ description of
the %rushless dc motor'
0.1 STATE SPACE MODELING
(he coupled circuit e,uations of the stator
&indings in terms of motor electrical
constants are

5here6
7
s
6 Stator resistance per phase
-
a
,-
%
, -
c
6 Stator phase currents
p =
d
dt
is the time deriatie operator
E
a
, E
%
, E
c
represent the %ack emfs in the
respectie phases in (8)
"n6 is the neutral point node oltage gien
%$
v
n
=
1
S
|v
as
+ v
bs
+ v
cs
] BENFs

Based on e,uation (8), the e,uialent
circuit of motors can %e o%tained as sho&n
in +ig' 8'

+ig' 8' E,uialent circuit for stator &indings

(he induced emfs are all assumed to %e
trape4oidal, &hose peak alue is gien %$
Ep 9 (BL)0 9 0(Blr:) 9 0;: 9 <:
&here B is the flu) densit$ of the field in
&e%ers, L is the rotor length, 0 is the
num%er of turns per phase, : is the
electrical angular speed in rad.sec, ;


represents flu) linkage 9 BLr, < represents
the total flu) linkage gien as the product
num%er of conductors and flu)
linkage.conductor' -f there is no change in
rotor reluctance &ith angle %ecause of non*
salient rotor and assuming three s$mmetric
phases, inductances and mutual
inductances are assumed to %e s$mmetric
for all phases as in =>?' !ence (8) %ecomes
(8)
Simplif$ing (@) further &e get the follo&ing
(A)
#nd tor,ue generated is gien %$6
(B)
(he induced emfs can %e &ritten as
'''''''''''''''''''''''(@)
&herefa(C), f%(C), fc(C) are functions haing
same shapes as %ack emfs' (he alues from
(D) can %e su%stituted in (>)
to o%tain the alue of tor,ue' #lso,
'''''''''''''''''''''''(>)
&here(l is the load tor,ue, E is the moment
of inertia, B is the friction coefficient'
Electrical rotor speed and position are
related %$
'''''''''''''''''''''''''''''''''''''''''''''''(D)
&here F is the num%er of poles in the
motor' +rom the a%oe e,uations, the
s$stem state e,uations are &ritten in the
follo&ing

&here the states are chosen as )(t) 9 = -a-%-c
: C?(
(hus the s$stem matrices as gien %elo&,



'''''''''''''''''''''''''''''(G)
(he input ector is defined as u(t) 9 =
"a"%"c(l?(
&hereLl 9 L H M, L is the self inductance of
the &inding per phase, M is the mutual
inductance per phase and "a,"%, "c are the
per phase impressed oltage on the motor
&indings'
4. IDEAL BACK EMF MODEL O+ BLDC
MOTOR8
(here are t&o t$pes of BLDC &ith respect to
%ack*EM+ signal of motor; sinusoidal and
trape4oidal' (here are also t&o t$pes of
BLDC according to hae sensors for
detecting rotor position or not' 0ormall$
!all Effect sensors &ere %eing used for lo&
cost, lo& resolution re,uirements and
optical encoder for high resolution
re,uirements' Sensor signals are using to
ad3ust F5M se,uence of B*phase %ridge
inerter' -n sensorless control %ack*EM+
sensing, %ack* EM+ integration, flu) linkage*
%ased, free&heeling diode conduction and
speed independent position function
techni,ues are using for electronic
commutation' -n this model, !all Effect
signals are produced according to rotor
position for commutation' #lso a B*phase
inerter using M2S+E(s is used as oltage
source' Different control techni,ues can %e
applied to the model' !ence control
techni,ues of BLDC are not o%3ectie of
paper; therefore proportional plus integral
(F-) controller is
used in loop control algorithm to control
speed' Schematic s$stem of BLDC motor
drie is sho&n in +ig' A'

+ig' A Schematic s$stem of BLDC motor
drie
#s sho&n in +ig' A simulation model is
consisting of three parts' Each part is
simulated separatel$ and integrated in
oerall simulation model' +or decoding !all
Effect signals in F5M generator, M#(L#B
code is &ritten' M#(L#B code is &ritten to


produce -deal Back*EM+ of BLDC as function
of rotor position' Simulation result of -deal
%ack*EM+ reference &aeforms of all
phases ersus electrical angle are sho&n in
+ig' B'

+ig' B' -deal Back*EM+ &aeforms
!ence it is assumed that phase 4ones are
distri%uted s$mmetricall$ to different phase
&indings; %ack*EM+ signals hae 8AI
degree phase shift &ith respect to each
other' +or conenient implementation of
e,uation in M#(L#B . S-M/L-01, most of
references are used state space e,uations'
-t makes the BLDC model more simple and
conenient for arious control techni,ues
implementation' -deal reference %ack*EM+
signal of motor also is produced
#ccording electrical rotation of rotor in
each phase separatel$ and applied as
negatie feed%ack to phase oltage' BLDC
motor model is sho&n in +ig' @'

+ig' @ BLDC motor model
!all Effect signals of motor are produced
according to electrical degree' (a%le - sho&s
!all Effect signal alues
according to electrical degree of rotor'
TABLE I8 !#LL E++EC( S-J0#LS
ELECTRICAL
DEGREE
HALL 1 HALL 0 HALL 4
39:3 8 I 8
:39103 I I 8
10391;3 I 8 8
1;39053 I 8 I
0539433 8 8 I
43394:3 8 I I



5ith implementing of a B*phase full %ridge
inerter and a
F- speed regulator oerall model of motor is
modelled'
2erall model of BLDC motor drie is sho&n
in +ig' >'

+ig' > 2erall model of BLDC motor drie

5. SENSORLESS CONTROL OF BLDC MOTOR
USING BACK EMF TECHNI<UE8

(he simulation has fie main %locks' (he$
are BLDC motor, controller %lock, inerter
%lock, estimate %lock and changer %lock
sho&n in +ig' D' Each main %lock has seeral
su%*%locks' Some %locks are logical and
some are made using S*+unction' (he BLDC
motor %lock contains state space su%*%lock
&here matrices #, B, C, D are located &ith
the proision that the initial condition can
%e aried' -n the S*+unction, coding file is
linked and is sho&n in +ig' G (he simulation
starts &ith a starter %lock that generates
BK input oltage to the s$stemLs core %lock
for one c$cle' # changer %lock is used to
close the control loop after the random
ramping of the motor' 2nce the loop is
closed, the starter %lock &ill %e
disconnected from the s$stem and the
motor &ill start receiing the phase
oltages from the connected controller
through inerter'

+ig' D' Simulink model of BLDC motor

+ig' G' -nside the core %lock in BLDC motor
%lock
(he F-D controller is tuned %$ Ziegler
0ichols method' B$ this method, the alues
of 1p98D'D8, 1i9I'I8B@ and 1d9I are


chosen' #n S*+unction %lock is connected to
the state space %lock to choose the motor
specifications such as, the num%er of
conductor turns per phase, resistance per
phase, rotor dimensions etc as defined %$
the user' (he S*+unction &ill read the
instantaneous position among t&ele
positions &hich are separated %$ BIM'
Depending on the position, the %ack e'm'f
and tor,ue in each phase &ill %e defined'
(he estimate %lock contains the F-D
controller' (he %lock again is an M*file S*
+unction' (his %lock calculates the
reference phase current from the speed
and re,uired tor,ue' 7e,uired tor,ue is
calculated %$ actual speed and the speed
error alue' (he a%oe alue &ill %e read
and used in a F-D controller' (he re,uired
tor,ue is calculated as follo&s,

&here E is the angular speed error, E*8 is
the preious time step error in angular
speed, ts is the sampling time, 1p, 1i, 1d are
proportional, integral and deriatie
constants'
(he re,uired current is calculated from the
instantaneous re,uired tor,ue' (hen it is
conerted %$ means of an appro)imated
FarkLs (ransformation to three phase
currents' (he appro)imated parkLs
transformation gies thecorresponding
phase current to eer$ stator phase
according to the rotorLs position' # hold
%lock is used to hold on %oth the re,uired
and instantaneous current alues in the
open loop' 2nce the changer %lock closes
the control loop, the hold %lock &ill gie an
access to the current alues to pass to the
present controller scheme' -n this
simulation, h$steresis controller function is
chosen' /suall$, the controller is used to
fire the gates of si) step inerter s&itches,
as in'
=. S+'u),t+" Re&u)t& Ad D+&*u&&+"
=.1 IDEAL BACK EMF METHOD8
Simulation results of BLDC motor under no
load and load conditions are sho&n' #s it
can %e seen in +ig' D, d$namic response of
BLDC due to its permanent magnet rotor is
high' Fulsating tor,ue of BLDC is sho&n in
+ig' G' +igure N sho&s %ack*EM+ produced in
phase # of motor' (a%le -- sho&s BLDC
motor specification to inestigate
performance of adanced model' 2utput


and -nput po&er characteristics of motor
under no load condition is sho&n in +ig' 8I
and +ig' 88' 5ith respect to stead$ state
alues of po&er, efficienc$ of s$stem is
O@'DP' S$stem sho&s high efficienc$
operation of BLDC'

TABLE II8 BLDC M2(27 SFEC-+-C#(-20

DESCRIPTION VALUE UNIT
POWER 8I 15
DC VOLTAGE A@I "
PHASE RESISTANCE !R( 8 Q
PHASE INDUCTANCE !L( I'A> m*!
INERTIA !>( 8>'8Ge
*D
1g*m
A
DAMPING RATIO !?( I'II8 0*s.m
POLES @ **

+ig' N Speed characteristics under no load
condition

+ig' O (or,ue characteristics under no load
condition

+ig'8I Back*EM+ of phase #

+ig88 2utput po&er characteristics under
no load condition


+ig'8A input po&er characteristics under
no load condition

+ig' 8B Speed characteristics under load
condition

+ig' 8@ Current characteristics under load
condition

Simulation also has %een done under 8I
0'm load tor,ue' BLDC speed characteristic
is sho&n in +ig' 8A under load condition' -t
can %e seen that under load condition time
for speed to reach its final alue is
increased' Current characteristics of phase
# of motor under load condition is sho&n in
+ig' 8B' Ma)imum alue of current is @I
amps'
=.0 SIMULATION RESULTS OF SENSORLESS
CONTROL OF BLDC MOTOR USING BACK
EMF TECHNI<UE
(he motor specifications used in this
simulation are sho&n in (a%le' ---' (he
simulation &as run for I'8Bseconds
(simulation time)' 5hen the reference
speed e,uals @III rpm, the simulation
cures of BK %ack emfs, BK currents,BK
tor,ues and rotor position are sho&n in +ig'
>, D, G, N, and +ig' O' Load tor,ue is applied
at I'I8 seconds' (he motor speed sta%ili4es
in I'I>N seconds &ith IP oershoot' +rom
+ig' > and +ig' D, the %ack emf is almost
trape4oidal &ith 8AIM phase difference'
Since the three phase tor,ues are
calculated from BK currents, it gies
8AIMphase difference %et&een each phases
as sho&n in +ig' G' +rom +ig' N, the rotor
position can %e anal$4ed under arious
aligned and unaligned conditions'



(#BLE ---6 Specifications of BLDC Motor
Drie6
Cu$$et 45A R"t"$ )e-t6 43*'
T"$@ue I'O 0*m 7otor radius AIcm
Se)1 +du*t,*e
.e$ #+d+-
A'GAm! 0o of turns
per phase
8II
Mutu,)
+du*t,*e
Aet#ee
#+d+-&
*8'>m! +lu) densit$ I'N8DG&%
M"t"$ +e$t+, I'IIIA Coulom%
friction
I'I8GN0
R,ted &.eed @>II 7FM Static friction I'INO0
Nu'Ae$ "1
.")e&
@ "iscous
friction
I'IIA0
Nu'Ae$ "1
.6,&e&
B -nput dc
oltage
8DI"
W+d+-
$e&+&t,*e .e$
.6,&e
I'GQ 0o' of slots
per pole per
phase
8II

7ES/L(S6

+ig8>'6 (hree Fhase Back EM+
+ig8D' (hree Fhase Currents

+ig8G'three phase tor,ue

+ig8N'7otor Fosition

+ig8O'speed
:. C"*)u&+"&8
-n this paper it is sho&n that BLDC motor is
a good choice in automotie industr$ due to
higher efficienc$, higher po&er densit$ and
higher speed ranges compare to other
motor t$pes' BLDC motor model &ith ideal
%ack*EM+ method and sensorless control of
BLDC motor using Back EMf (echni,ue is
presented in this paper' (he proposed
model is simulated in M#(L#B . S-M/L-01'
Simulation results in first case under no


load and load conditions are sho&ing
proper performance of model' 2utput
characteristics and simplicit$ of model
make it effectiel$ useful in design of BLDC
motor dries &ith different control
algorithms in different applications' Second
Method is implemented using State space
(echni,ue' BLDC motor anal$sis %ased on
state space model can %e easil$ carried out
using M#(L#B G'B ersion' (his model has
man$ adantages oer transfer function
model' (he simulation stud$ using state
space model has %een alidated &ith the
results o%tained using transfer function
model' +urther using state space model, the
performance characteristics of the BLDC
motor can %e ealuated for different
machine parameters, &hich can %e easil$
aried in the simulation stud$ and useful
information can %e o%tained'
(he simulation results demonstrate that the
simulated
5aeforms fit theoretical anal$sis &ell'
!o&eer, the simulation inoles soling
man$ simultaneous differential
e,uations and the results o%tained are
highl$ dependent upon the choice of the
s$stem soler, &here some soler gies
highl$ accurate results, %ut need longer
time to terminate' (hrough the
modulari4ation design, a lot of time spent
on design can %e saed and the design
efficienc$ can %e promoted rapidl$' (he
second method proposed in this paper
proides a noel and effectie tool for
anal$4ing and designing the control s$stem
of %rushless DC motor'
REFERENCES
8' #' (ashakori, M' Ektesa%i and 0'
!ossein4adeh, RCharacteristic of suita%le
drie train for electric ehicleS, AI8I Brd
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Electronic and -ntelligent (ransportation
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China'
A' T' S' Eeon, !' S' Mok, J' !' Choe, D' 1'
1im and E' S' 7$u, R# ne& simulation model
of BLDC motor &ith real %ack EM+
&aeformS, -EEE C0+' 2n Computer and
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B' S' "inatha, S' Fola, 1'F' "ittal,
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Jothen%urg, S&eden'
8I' 0aidi, 0'; Baafa, M,6!esami, S' (AIIO)6
# ne& approach for designing of F-D
controller for a linear %rushless DC motor
&ith using ant colon$ search algorithm' -EEE
Fo&er U Energ$ Engineering c onference,
pp' 8*>'
88' +igueroa, E'; Brocart, C'; Cros, E';
"iarouge, F' (AIIB)6 Simplified methods for
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Research Article ISSN: 2319-507X

Shital Wasu, IJPRE, 2013! "#lu$e 1%&':2()-259 IJPRE

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