Proceedings of the International Conference on Smart Electronics and Communication (ICOSEC 2020)

IEEE Xplore Part Number: CFP20V90-ART; ISBN: 978-1-7281-5461-9

Speed Control of Brushless DC Motor using

Zeta Converter
Sriballabh Acharya, M.Tech.(Pursuing) Dr. Vikas Sharma, Assistant Professor
Department of Electrical Engineering Department of Electrical Engineering
Engineering College, Bikaner Engineering College, Bikaner
Bikaner, Rajasthan, India Bikaner, Rajasthan, India
[email protected] [email protected]

Abstract—Motors consist of dynamic mechanism that drive To overcome this problem various power factor correction
almost all the nearby systems in motion. Numerous motor converters are used. In this paper, the zeta converter is used to
classification are dependent on their construction and the type of overcome from power factor correction problem. It is a fourth-
electrical input power given to the motor. The proposed research order DC-DC converter that operates as a step up or steps
objective is to decrease the size and cost of a Brushless DC motor
drive along with the better power quality given to the motor and
down converter. It has a non-inverted output because it has two
also to enhance its reliability. The zeta converter is used for inductors and two capacitors those work as dynamic storage
sensor-less motor speed control. A zeta converter has employed a components. It will be helpful in many home appliances such as
fourth-order DC-DC converter that is constructed with two a blender, electric cutter, tea-coffee machine, dishwashers,
inductors and two capacitors and proficient of functioning in two oven, refrigerator, industrial machinery tools, single belt-
modes which are both step- up or step-down mode. To deliver driven system, heating and ventilation, CNC machine tools,
feedback position to the pulse generators the Hall-sensors are traction system. Different literature is done for BLDC motor
used. A MATLAB/ S imulink environment setup is used to run the speed control. A BLDC motor, comprises of the various
designed motor drive system to accomplish the extensive control components and the circuits of the motor to the enhancement of
and improvement in the high PF at the supply . the stator windings. [3]. The latest changes discussed in
PMBLDC motor drives with construction, CL controllers for
Keywords—Bushless DC motor, Zeta converter, Speed control,
Hall sensor. the position, development of inverters, control among speed,
current, and torque [4]. The PMBLDC motor fundamentals
I. INT RODUCT ION with its construction, operating principle, and applications are
In the present two decades, there has been excessive growth in discussed in detail [5]. A new hybrid switched capacitor circuits
in Zeta, Cuk, and SPEIC converters persented which have a
energy utilization in terms of electricity consumption with a
conventional and advanced appliance which has been creating higher DC voltage ratio and more efficient energy requirement
environmental issues simultaneously and become a critical as compared to their conventional model [6].
A model proposed with double-ended rectifier which gives a
concern for the community. Energy-efficient improving
techniques may play a significant role to complement wide zero voltage switching range and a bidirectional path in
environmental issues. Industry consumed more than two-thirds rectifier for half-bridge zeta converter to minimize the
secondary snubber los s and maximize rectifier voltage
is used by the electric motor of generated electricity [1].
Electric motor either air-cooled or liquid-cooled. In ship waveform in terms to decrease the output filter size, and
propulsion, pipeline compression applications, etc. where voltage stresses on their elements [7].A low-cost zeta converter
model designed to control the grid-connected photovoltaic
ratings required up to 150 MWs then-largest electric motor is
used [2]. Electric motors applications are industrial fans, panels (PV) system. This model is consists of analog circuits
blowers and pumps, machine tools, household appliances, with MPPT technique based on solar panel linearization
characteristics around the MPP with the PWM modulator [8].
power tools, and disk drives. Brushless DC (BLDC) motor is
the most suitable electric motor due to its highest demand in A zeta converter model that is operating in continuous
household appliances with a low horsepower control features conduction mode to enhance the BLDC motor power factor
and speed control. The motor speed can be controlled by
like delivers high efficiency, noiseless operation, high
reliability, wide speed range, and less maintenance. It occurs regulating DC link capacitor voltage [9]. The comparison
because in conventional DC motor brushes are used for between the functioning, working, merits, demerits and
evaluations of BLDC and PMSM motors [10]. A transformer-
commutation but in BLDC motor electronic commutation is
used. Usually, BLDC motor is commutated in six-step design less input to output DC insulation zeta converter model which
and position sensors are controlled the commutation. The has one main switch is used and a higher voltage gain than the
conventional model [11]. A zeta converter model implemented
sensor-less drive system reduces motor cost and complexity.
Still, variable speed control and power quality is a major with an isolated discontinuous conduction mode PFC circuit on
problem facing this motor which bounds motor applications. a 100 Ah, 48 V lead-acid EV battery[12].

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 Proceedings of the International Conference on Smart Electronics and Communication (ICOSEC 2020)
IEEE Xplore Part Number: CFP20V90-ART; ISBN: 978-1-7281-5461-9

Due to high efficiency, low maintenance motivated PMBLDC Heat transfer and temperature rise determined by the
motor drive for excessive use in industrial and automobile continuous limit. The highest ratings of semiconductor
sectors. All the household appliances have required these devices of the controller are decided by the intermittent limit
motor because control is easy. Hence, BLDC motor has been
made its commercial mass production and achieve its energy-
saving feature in every industrial application. The organiztion
of this paper such as in section II we will ellobrate BLDC
motor. The opeartion of zeta converter is discussed in detaied
in section III. MATLAB/Simulation results are shown in
section IV and section V conclusion of paper work is
discussed.

II. BLDC MOT OR OPERAT ION

A. Working of BLDC motor

The current generated a magnetic field when it circulating

through thr coils. The field lines are arrenged in such a manner
that the poles of the energized magnet will be dependent on the
direction of the current running across the coil. The working of
a BLDC motor is shown in figure 1. Three coils namely A, B,
and C which placed in the stator slots. When the DC supply
energized coil A then it becomes exciting and magnetized the Fig.2. Speed-Torque characterstics graph of BLDC motor
rotor PM. Likewise, when the coil B is energized it attracted a
rotor permanent magnet, and this process continues done until C. Motor Operation with inverter
the coil C. Subsequently when the coil C is energized, the coil
A is charged with the negative polarity To reduce power consumption and improve efficiency it can
be done by an inverter control method. The (ͳ െ͸) are six
switching devices of the inverter working for each phase
voltage wave in a manner that symmetrical DC input for each
phasevoltage at the direction of 120o . At any instant, there
have been two switches conditions are ON, one is from the
upper, and the second is in the lower group. The inverter
operation of the motor shown in figure 3.

T1 T2 T3

(a) (b) (c) ia BLDC motor

Vs
+ ib

Fig.1. Working of the BLDC motor

_ ic

This process will happen with the other coils with negative
T6 Rotor position
polarity. This rotation is carry on sequencing and the rotor T4 T5
sensor
constantly rotates. One phase is always positive, another phase
is negative and the third phas e remains ideal at any instant.
B. Speed-Torque Characterstics of BLDC motor
There are two torque variable which is peak torque (߬‫ )݌‬and
rated torque (߬‫ )ݎ‬shown in figure 2. At rated speed, the torque CONTROLLER

must continue uniform. When rated speed (߱‫ݏ‬ሻreached up to

its double, then motor runs at maximum speed but Fig.3. Inverter operation of BLDC motor
subsequently, the torque starts to dropping [13]. When the
load torque is increased at the same time the speed decreases.
The phase resistance and torque are directly proportional to Let's say at an instant t1 , when the supply current Id is flowing
the decline in speed. through in phase A and B then ͳand Ͷare turned ON and
current in phase A is positive but in phase B it is negative.
After 60 o angle interval at the middle of phase A, current Id is

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 Proceedings of the International Conference on Smart Electronics and Communication (ICOSEC 2020)
IEEE Xplore Part Number: CFP20V90-ART; ISBN: 978-1-7281-5461-9

di q di p di r
negative in phase B.T2 is ON and T6 is OFF but T1 is Vq = iq rq + Lq + mqp + mpr + eq
continues conduction of the full 120 o angles [13]. The Hall dt dt dt
(2)
sensor is used for finding the position of coils. This sensor
gives a signal to the controller which assists in energizing the di r di q di p
Vr = ir rr + Lr + mrq + mrp + e r
coil once getting the position from the sensor. Any variation in dt dt dt
the magnetic field is detected by these sensors. The hall (3)
sensors are activated with the help of rotor magnets.
Transistor-Transistor Logic (TTL) is a harmonious pulse with Where,
sharp edges providing by a signal conditioner when it combined rp ,rq ,rr , Stator resistance of phase p, q, and r.
with a hall switch. l p ,lq ,lr , Stator inductance of phase p, q, and r.
i p ,iq ,ir , Stator current of phase p, q, and r.
These sensors are placed 120o separately fixed at the stator
frame. Digital signals of the Hall sensors sense the rotor Vp ,Vq ,Vr , Phases p, q, and r voltages.
position. Table I shows the inverter process s hown by mp ,mq ,mr ǡ Mutual inductance (m) between phases.
following hall-sensor truth table. l p ,lq,l r  Self-inductance (L) of the stator of phase p, q, r.
T ABLE I
HALL SENSOR TRUTH TABLE Case-1 When lp ൌ lq =lr =L
Hall Position T1 T2 T3 T4 T5 T6 Then, mpq =mpr =mqr =mqp =mrp =mrq =M

000 0 0 0 0 0 0 Case-2 It is an assumption that all phase resistance is equal

in a balanced 3-ϕ system.
001 0 0 0 1 1 0
010 0 1 1 0 0 0 Then, rp =rq =rr =R
These three equations are for the stator, the rotor does not
011 0 1 0 0 1 0 have any winding because the rotor is a PM. Hence, there
are no equations for the rotor s tructure. The matrix form
100 1 0 0 0 0 1 of (1), (2), and (3) is shown below,
101 1 0 0 1 0 0 vpn R 0 0 ip L M M ip ep
൥vqn ൩ = ൥ 0 R 0 ൩ ൥ib ൩ + ൥M L M ൩ P ቎ i q ቏ + ൥ eq ൩ (4)
110 0 0 1 0 0 1 vrn 0 0 R ic M M L er
ir
111 0 0 0 0 0 0
Rearranging (1), (2), (3)
D. Mathematical modelling di p di q di r
Vp = i p R + L +M +M + ep (5)
dt dt dt
The BLDC motor is a non-linear model. For analysis, it is
di p di q di r
assumed to be a linear model. The equivalent circuit diagram Vq = i q R + L +M +M + eq (6)
of the BLDC motor is shown in figure 4. dt dt dt

di p di q di r
Vr = i r R + L +M +M + er
dt dt dt
(7)

Avoiding mutual inductance then,

di p
Vp = i p R + L +ep
dt
(8)
di q
Vq = i q R + L + eq
dt
(9)
Fig. 4 . Equivalent circuit of BLDC motor
di r
Equations for total voltages of individual phases in 3-ϕ BLDC Vr = i r R + L + er
dt
motor are: - (10)
di p di q di r
Vp = i p rp + Lp + mpq + m pr + ep
dt dt dt
(1)

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di p
‫ ۍ‬dt ‫ ې‬e CCM. Vo displays the voltages through L1 and L2 during CCM
vpn Rs 0 0 ip
‫ ێ‬di ‫ۑ‬ p operation .
൥vqn ൩ = ൥ 0 Rs 0 ൩቎ i q ቏ +Ls ‫ ێ‬q‫ ۑ‬+ ൥eq ൩
dt
vrn 0 0 Rs i r ‫ ێ‬di r ‫ ۑ‬er A. Mode I (P1= ON)
‫ ۏ‬dt ‫ے‬ Figure 6 shows the zeta converter operation when P1 is ON.
(11)
di p
‫ ۍ‬dt ‫ې‬ Vpn Rs 0 0 ip ep
‫ ێ‬di q‫ۑ‬ 1
‫ ێ‬dt ‫ۑ‬ ൌ ቐ቎ V qn ቏ - ൥ 0 Rs 0 ൩ ቎iq ቏ - ൥ eq ൩ቑ
Ls
‫ ێ‬di r ‫ۑ‬ Vrn 0 0 Rs i r er
‫ ۏ‬dt ‫ے‬
(12)

(12) can be solved with the help of any numerical solution

technique (viz. Runge Kutta method) to find the values of
݅ ௣ ǡ ݅ ௤ and݅ ௥ [14].
Fig.6. When P1 is ON
III. ZET A CONVERT ER FED BLDC MOT OR
The zeta converter is the heart of the whole system. This Coupling capacitor CC charge up the Vout and remains
converter improves the power quality of the entire model. The connected in series with L2 . Therefore the voltage across L2 is
zeta converter block consists of an input supply of 227V. This +Vin and diode D gets Vin +VoutǤ
AC supply is rectified into DC supply by a diode bridge B. MODE II (P1= OFF)
rectifier. This DC output then fed to the zeta converter circuit
[15]. There have been some ripples and harmonic distortion The voltage through L1 should be Vout subsequently, it is in
found in the DC supply which is being removed by the low pass parallel with Cout . Since Cout is charged to Vout , the voltages
filter Cc of the converter. A single-stage process functioning in a are Vin +Vout across P1. As a result the voltage across L1 is –
CCM to control the voltage regulation and the PFC [15]. Zeta ‘—– comparative to the voltage across P1. Figure 7 shows the
converter circuit diagram with different parameters have been zeta converter operation when P1 is ON.
shown in figure 5.

Fig.7. When P1 is OFF

Here observed that while Q1 turns ON L1b provides Iout and
Fig.5. Circuit daigram of zeta converter when Q1 turns OFF L1a current continues to flow which is
Where, delivered via CC and L1b another time delivers Iout. Energy
from the input supply is stored in L1a , L1b and CC.
Cc = AC coupling capacitor
Cin = An input capacitor Advantages of zeta converter [16] :-
Co = The output capacitor
x It is responsible for a non-inverted output.
L1 and L2 = Coupling inductors
P1 = Power MOSFET x A stable output response is gained.
D = Diode
x A small number of transients in the output response.
Vout = Output voltage
Vin = Input voltage x Total control over the circuit which is proved that it
is effective.
Coupling capacitor Cc is in parallel along with Cout , thus Cc is
charged up to the output voltage,Vout through steady-state

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C. Calculation of duty cycle A. Closed loop speed control of BLDC motor with zeta
By assuming 100% efficiency, the duty cycle which is converter
represented by D, operating during CCM for a zeta converter
In MATLAB Simulink motor speed is compared by the PI
is presented by , controller. In this model value of ‫݌ܭ‬are 0.5 and the value of ‫݅ܭ‬
Vout
is 1. Reference speed 1500 rpm is given and, in the end,
D= (13) constant speed 1501 rad/s is achieved. The output voltage of
Vin +Vout
phase a and b of inverter comes 268V. Figure 9 shown the
closed-loop control of the motor with a PI controller and zeta
This can be written as, converter.
D I in Vout B. Motor Specification
= =
1-D I out Vin
(14) No. of Phase :- 3
Back-EMF waveform:- Trapezoidal
Where, Rotor type :- Round
Dmax Occurs at Vin ( min) Mechanical Input :- Torque ( 5 N.m.)
Dmin Occurs atVin (max) Stator phase resistance:- 0.0485 ohm
Vin = 227V Armature inductance :- 0.000395 H
Vout = 268V Flux linkage :- 0.1194
Reference speed:- 1500 rpm
Putting these values in (1) gets the value of the duty cycle. The Input voltage :- 227 V
duty cycle for the zeta converter during CCM mode is 0.54 or
54%.

IV. SIMULAT ION RESULT S

The Block diagram of the simulation model is shown in figure
8. With the help of the below block diagram the proposed
model can be simulated.

Fig.9. Speed control of motor with PI controller and zeta

converter in closed-loop
(i) Transient-state response

In figure 10, the first graph shows current waveform

Fig.8. Block diagram representation of Simulink Process constantly. The second graph shows the speed of the motor
which is varying from 1499 to 1501 rad/s. There has been a
An AC input supply is given through a circuit that is then stable back- EMF waveform shown in the third graph. In the
rectified by a diode bridge rectifier. This DC supply fed to the fourth graph torque of BLDC motor waveform shown which
zeta converter and then rectified DC given to voltage source is 5 N.m.
inverter. The DC is converted into AC by voltage source
inverter and fed to the BLDC motor. The driver circuit fed the
gate pulse through MOSFET. The PI controller is automatic
regulates the control of the speed of the BLDC motor with
reference speed.

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 Proceedings of the International Conference on Smart Electronics and Communication (ICOSEC 2020)
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Fig.10. Transient state of BLDC motor fed zeta converter

(ii) Steady state response Fig.11. Steady state of BLDC motor fed zeta converter
In figure 11 the first graph shows the constant current. A V. CONCLUSION
stable back-EMF of the motor shown in the second
waveform. The third graph shows constant speed which is A comparative analysis is done between open-loop and the
closed-loop system feedback system in both transient-state and
1501 rad/s. The fourth graph shows the torque waveform
steady-state conditions. Motor speed control operating in 120o
which is changing from 3 N.m. to 5 N.m.
angle Switch-ON mode method with the help of the zeta
converter and PI controller is performed. Simulation has been
implemented via MATLAB/Simulink s oftware. It is shown
that the zeta converter method gives constant speed and fewer
ripples on different load conditions. With zeta converter,
excellent control of voltage and current for the motor is
achieved. Limitation of this motor is that it has been worked
with a maximum speed between 1450-1500 r.p.m.The highest
load condition is 5 N.m. In MATLAB/ Simulation Simscape
models cannot generate codes.
Numerous other sensorless techniques like Variable frequency
drive, Arduino microcontroller, Fuzzy logic controller,
SVPMW inverter, etc. can be researched and applied for
BLDC motor speed control.

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 Proceedings of the International Conference on Smart Electronics and Communication (ICOSEC 2020)
IEEE Xplore Part Number: CFP20V90-ART; ISBN: 978-1-7281-5461-9

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