2018 International Seminar on Intelligent Technology and Its Applications (ISITIA)

Performance of BLDC Motor Speed Control Based

on Hysteresis Current Control Mechanism
H. Suryoatmojo, F. G. Cladella, V. Lystianingrum, D.C. Riawan, R. Mardiyanto and D. Ariana
Department of Electrical Engineering
Institut Teknologi Sepuluh Nopember- ITS, Surabaya, Indonesia
Email: *)[email protected]
Abstract — Brushless dc (BLDC) motor has been widely the event of a semiconductor failure [7]. However, these
used for daily life due to has high ratio of torque, wide range of paper does not explain in detailed about speed control and its
speed regulation and high efficiency compared to conventional effect to the performance of BLDC motor.
dc motor. However, BLDC motor cannot be operated This paper proposes of hysteresis current control method
independently and needs electronic devices to control both its
to be implemented in the BIC converter with its ability to
speed and torque. Usually, three phase inverter is required to
generate commutations based on the position of rotor. Due to improve power factor as well as control the speed of BLDC
high frequency switching in the inverter side causes harmonic motor. This converter will be applied in two different PFC
problems which affects the poor value of power factor (PF). In control methods where each control method will be
this paper implements hysteresis current control method in the implemented in two different modes, continuous conduction
bridgeless isolated cuk (BIC) converter topology in order to mode (CCM) and discontinues conduction mode (DCM). In
control the speed of BLDC motor and improving of power addition, in order to investigate the effectiveness of the
factor. From simulation results indicate that hysteresis current proposed scheme, this research also compares with average
control is working perfectly to respond the fluctuation of speed current control.
and able to increase power factor compared to average current
control method. II. BASIC PRINCIPLES
Keywords—BLDC Motor, Hysteresis Current Control, BIC A. Brushless DC Motor
Converter, Power Factor Correction, Speed Control.
Fig. 1 shows the main part of BLDC motor. The
I. INTRODUCTION brushless DC motor has an electric commutator to replace
BLDC motor is become popular used for household and the brush so it has higher efficiency, lower sound emissions
industrial applications because it has a high ratio / inertia and and easier maintenance [8]. The basic principle of a DC
high efficiency and is not noisy. Basically, BLDC motor is brushless motor is to replace the mechanical commutator by
similar to synchronous motor consisting of a permanent using a series of electrical switches. The DC brushless motor
magnet in the rotor and three phase windings in the stator. To uses the same principle as a conventional DC motor except
generate commutation process based on rotor position, the stator has a three phase winding and the rotor has a
voltage source inverter (VSI) is required in the BLDC magnetic pole [9].
control system. [1]. Utilization of VSI then eliminate the use
brush and commutator mechanisms, therefore electrical
losses become lower compared with conventional dc motor.
In many applications, single phase ac voltage source is
rectified using conventional rectifier and finally dc filter is
installed to reduce the output voltage ripple. The output
voltage of rectifier than become the input of three phase
inverter where its controlled by using pulse width modulation
(PWM) [2-14]. Such configuration gives the impact to the Fig. 1. DC Brushless Motor [10]
total harmonic distortion (THD) and reduce the power factor
of the ac source [3]. Reducing harmonics and improving B. Electrical Commutation on Brushless DC Motor
power factor can be made by installing passive filters, active There are 2 (two) methods to determine the exact timing
filters, and hybrid filters. However, this way is costly and of the commutation change: the method with sensors and
may reduce efficiency. without sensors (sensor less). The sensorless method itself
Some converters have been commonly used as power has several method of detecting position of rotor. One of
factor correction (PFC) such as boost converter, buck - boost method is the detection by zero crossing points using back-
converter and multilevel converter [4]. In ref. [5], EMF [11] as shown in Fig. 2.
conventional boost-PFC converter was used to improve the
power factor on the ac side of BLDC system. However, it
requires a lot of sensors and increase of switching losses. In
ref. [1] introduce and explain about the design of BIC
converter for BLDC speed control. This converter is selected
due to its ability to be operated in various range of speed
control and capable to improve power factor of the system.
Moreover, the use of high frequency transformer (HFT)
provides a galvanic isolation protection which will be able to
Fig. 2. Signal waves based on hall-effect sensor [12].
withstand high voltages and act as additional protection in

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 C. Converter Platform to match the required input of VSI. The converter utilizes dc
filter to reduce voltage ripple in the dc side. Then, BIC
In this model BIC Converter is used for the platform in
converter is used to increase or decrease dc voltage with a
BLDC speed control. Topology of this converter can be
maximum dc voltage of 130 V and a dc minimum voltage of
shown in Fig. 3 [1]. Basically BIC converter is a dc-dc
50 V. In addition, the converter has a function the improve
converter that is modified from conventional buck-boost
power factor due to harmonics problem of non-linear
converter. BIC converter has an output with positive polarity
components. VSI directly fed through BLDC motor and It is
due to the use of HFT. The advantage of this converter is the
controlled according to signal from hall-effect sensor. The
elimination of rectifier bridge on the front-end to reduce the
speed control used in this study is done by giving the value
power loss to semiconductor components. The use of HFT
of the reference speed which will be compared with the
provides a galvanic isolation protection which will be able to
actual speed sensor.
withstand high voltages and act as additional protection in
the event of a semiconductor failure. Fig. 4 shows overall
B. Modelling of BLDC Motor
control scheme for BLDC motor.
The BLDC motor used in this study is based on the existing
motor [1]. Then, all parameters are considered for the input
data in the aplication software. Meanwhile, the rating of load
used is 1.2 N.m with the speed of motor can be varied with a
maximum speed is 2,000 rpm. Table 1. describes overall
Fig. 3. Bridgeless isolated cuk converter circuit [1]. BLDC motor specifications.

TABLE I. BLDC M OTOR PARAMETERS [1].

Parameter Value
Number of poles (p) 4
Voltage source (V ) 130 V
Speed (ω ) 2,000 rpm
Torque (T ) 1.20 N.m
Power (P ) 188.49 W
Constant of speed 17.36 k/V
Constant of torque (k ) 0.55 N.m./A
Fig. 4. BLDC speed control configuration system. Per phase of resistance (R ) 4.32 Ω
Per phase of Inductance (L ) 8.0 mH
D. Power Factor and Harmonics Inertia (J) 1.8 kg.cm
No Load Speed 2,257.32 rpm
Harmonics of voltage and current will occur due to non- No Load Current 0.7 A
linear loads such as in rectifiers and inverters. THD can be
described as the sum of total harmonic values and compared C. Parameters of Converter and Filter
with fundamental values. Large amount of THD will impact
to the lower power factor in the system. Meanwhile, power The value of the component is designed based on
factor in linear load can be calculated by the formula: switching frequency of 20 kHz. The motor is operated on its
rated condition. The maximum voltage (VDCmax) used in the
= cos( − ) (1)
system is 130 V. In this case, the motor is loaded by
Where θv is the angle of the voltage and θi is the angle of mechanical load of 1.2 N.m. When the motor is operated
the current so that the value of (θv-θi) is the angular with mechanical torque of 1.2 N.m, the motor will generate
difference between the voltage and current. Where the power up to 250 W. However, when the motor is operated
distortion factor is a form of harmonic distortion of the with a minimum dc voltage source (VDC min) of 50 V, then
current wave can be calculated by the formula: power generated by the motor is equal to 96 W. In the
= (2) inductor (Lo1,2) will be applied two modes i.e. CICM and
( ) DICM. Meanwhile, the value components used in the
The relationship of power factor and harmonics can be seen converter such as Li, Lo, Lm, C1, C2, Cd, Cmax, and Lreq. are
from the following equation: obtained by following equation:
= × (3)
∙
Where TPF is a real power factor value that occurs due to , = (4)
∙ ∙ ∙ √
the harmonic distortion factor while DPF is displacement
power factor, which is the value of power factor without For Lo, because there are 2 modes that will be used i.e.
taking into account the harmonics. CCM and DCM, then there are 2 values of Lo used. For Lo
CCM obtained through
III. OVERALL DESIGN AND MODELLING ∙
, = (5)
A. System Configuration ∙ ∙ √ ∙ ( ∙ √ )

Fig. 4. shows the configuration of the overall control Whereas DCM is searched between the 2 equations,
system. Single phase ac system with the rms voltage of 220 where the lowest value is used:
V and frequency of 50 Hz are required in this system. The ∙
, ( ) = (6)
value of voltage source may fluctuate from 170 V to 270 V. ∙ ∙ √ ∙ ∙ √
The ac voltage must be rectified using a bridgeless rectifier

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 Lm can be obtained with: TABLE II. AVERAGE C URRENT C ONTROL SYSTEM M ETHOD
SPECIFICATIONS
∙
, = (7) PI Controller 1
Gain = 0.01
∙ ∙ ( ∙ √ ) Time Constant = 0.1
Gain = 20
C1 can be obtained from: PI Controller 2
Time Constant = 10
∙ Voltage Divider Constant 311
, = (8) Vpeak = 1 V
ᵏ∙ √ ∙ ∙( ∙ √ ) Saw tooth Waveform
Frequency = 20 kHz
can be obtained from the equation, whereas the highest
result is considered as the minimum point. E. Control Method with Hysteresis Current Control Method
, ( ) = (9) Fig. 6 shows control method by hysteresis current
ᵡ∙ ∙ ( ∙ √ )
control. In this method uses three main sensors: speed sensor,
Cd can be obtained from: current sensor and voltage sensor. The initial process is done
= (10) by detecting the actual speed by the speed sensor which is
∙ ∙ ( ) then compared with the reference speed that has been set.
∙√ The reference speed may vary with the maximum reference
C = tan(θ) (11) speed representing the speed of the motor rating, linear
. . ∙ √
piecewise model is used for this case. After comparing
L = − 0.025 (12) process, then an error signal will be processed by the PI
. . . . . ∙
controller to response the fluctuation of the actual speed. The
From the equation, we can obtained the value of the output signal yield from the PI signal will be multiplied by
components. The obtained values are: Li1,2= 6.006 mH, Lo1,2 in the signal of the absolute value of the voltage source divided
= 70 μH for DCM, Lo1,2 = 6,496 mH for CCM, 6.006 mH for by the constant of 311. The value of 311 represents the peak
Lm1,2, C11,12=1100 nF, C21,22=4.4 μF, Cd = 2200 μF, Cmax = value of the voltage source. The purpose of multiplying the
330 nF and Lreq = 3.77 mH. PI output control signal with the absolute signal of the
voltage source is to generate rectified sinusoidal waveform.
D. Control Method with Average Current Control Then, this signal is compared with the current signal
Fig. 5 Shows schematic of control based on Average generated from the rectifier. The multiplication signal is then
Current Control. This process is done by detecting the actual compared with the signal from the current sensor at the
speed by the speed sensor and comparing it with the rectifier to generate duty cycle switching signal. Here, the
reference speed that has been set. The process of comparing value of PI controllers are determined by trial and error.
both variables will result in a measurement of error reference Table 3. shows parameters of PI controller used for
of the speed. The obtained error values will be processed by hysteresis current control.
the PI controllers. The PI controllers will transform the Before can be passed to each switch duty cycle switching
control signal into a rectified sinusoidal signal so that it can signal must be separated based on positive and negative
be compared with the generated signal on the rectifier. cycle of ac voltage source so that must be inserted AND gate
Before the process can be channeled to switch each duty together with signal of ac voltage source that has been
signal, a comparator is used to convert the control signal into compared so that positive and negative cycle of ac signal can
a power signal to be inputted to each switch. Switch 1 will be be separately. Finally, AND gate output signal passes the on-
given a positive cycle duty cycle while switch 2 is given off controller to convert the control signal into a power signal
negative cycle duty cycle. The value of PI controllers are to be inputted to each switch. Switch 1 will be activated
determined by trial and error. Table 2. shows parameters of during a positive cycle. Meanwhile, switch 2 is activated
PI controller used for average current control. during negative cycle.

Fig. 5. Average current control system method. Fig. 6. Hysteresis current control system method.

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 TABLE III. HYSTERESIS C URRENT C ONTROL SYSTEM M ETHOD REFERENCE SPEED
SPECIFICATIONS
Gain = 0.01
PI 1 Controller
Time Constant = 0.1
Voltage Divider Constant 311
Vpeak = 1 V
Sawtooth Waveform
Frequency = 20 kHz

F. Conventional BLDC motor design

In conventional BLDC control, the rectified ac voltage

will go directly to VSI without having to go through a Fig. 7. Speed reference for speed control test.
converter that serves to improve the power factor. The speed
of the motor will be affected by the applied voltage. The LOAD TORQUE

given voltage can be set using the PWM signal. The speed
setting on a conventional BLDC motor uses a PI controller.
Where the comparison of the actual speed and the reference
speed will be the error signal to be processed the PI
controller will then be compared with the signal detected by
the hall-effect sensor to set the duty cycle on the PWM signal
which will set the desired motor speed [13].
IV. SIMULATION RESULTS AND ANALYSIS
In this section will discuss the performance of BLDC Fig. 8. Load curve.
speed control based BIC converter with hysteresis current
At the starting condition, it needs 0.2 seconds to adjust
control. Performance of the control scheme will be the speed of the motor speed 2,000 rpm. When the load
conducted through simulation in different two modes, CCM
torque drops drastically to 0.6 N.m and takes 0.3 seconds
and DCM. BLDC motor control scheme will be tested with
toward reference speed without any delay but sudden ripple
varying of reference speed value as shown in Fig. 7.
is occurred. Table V shows the THD value in the average
Meanwhile, characteristic of the mechanical load for testing
current control. It can be seen that both THD and PF are
is shown in Fig. 8. For THD analysis and power factor
better than convention method.
condition, the motor is operated on ac voltage source of 220
V and 1.2 N.m of load in the speed from 1,100 rpm to 2,000 TABLE V. THD OF C URRENT OF CCM M ODE WITH AVERAGE C URRENT
rpm. Table IV shows the results of conventional BLDC C ONTROL M ETHOD
motor control.
Speed THD
No. DF TPF DPF
(RPM) (%)
A. CCM Mode with Average Current Control Method
1 1,100 8.95 1.00 0.99 1.00
2 1,200 6.38 1.00 0.99 1.00
Fig. 9 shows that BLDC motor speed control with CCM
3 1,300 6.05 1.00 1.00 1.00
mode in average current control is able to follow the 4 1,400 5.43 1.00 1.00 1.00
changing of reference speed. At the beginning of the starting 5 1,500 4.56 1.00 1.00 1.00
condition it takes 0.2 seconds to adjust the motor speed of 6 1,600 4.26 1.00 1.00 1.00
2,000 rpm. When at 2 seconds the reference speed drops 7 1,700 4.18 1.00 1.00 1.00
drastically to 750 rpm and it takes 0.3 seconds to adjust the 8 1,800 3.62 1.00 1.00 1.00
9 1,900 3.42 1.00 1.00 1.00
speed control to adjust without delay but the big ripple is 10 2,000 3.34 1.00 1.00 1.00
occurred. It can be shown that the speed control of BLDC
motor on CCM mode with average current control method is
able to maintain the stability of motor speed even though the
load torque is changing.
TABLE IV. THD OF C URRENT IN C ONVENTIONAL BLDC M OTOR
Speed THD
No. DF TPF DPF
(RPM) (%)
1 1,100 258 0.36 0.13 0.35
2 1,200 256 0.36 0.13 0.36
3 1,300 244 0.38 0.14 0.37
4 1,400 239 0.39 0.14 0.38
5 1,500 233 0.39 0.15 0.38
6 1,600 228 0.40 0.16 0.39
7 1,700 226 0.40 0.16 0.39 Fig. 9. Reference speed vs actual speed on BLDC motor under CCM with
8 1,800 226 0.41 0.16 0.40 average current control method.
9 1,900 222 0.41 0.17 0.40
10 2,000 218 0.42 0.17 0.41

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 ACTUAL SPEED ACTUAL SPEED

Fig. 10. Actual BLDC speed with varied torque in CCM average current Fig. 12. Actual BLDC motor speed with varied torquein DCM average
control method. current control method.

B. DCM mode with Average Current Control Method C. CCM mode with Hysteresis Current Control Method
Table VII shows electrical parameter suh as THD and PF
Table VI shows the THD value and PF in average current
of hysterias current control under CCM mode. Meanwhile,
control. It can be seen that in DCM mode THD and PF are
Fig. 13 and 14 shows its speed response characteristic. If it is
better than in CCM condition. Meanwhile, Fig. 11 and 12
observed that the results are almost similar to the previous
shows the speed characteristic in average current control. It
results. In CCM, mode hysteresis current control able to
can be shown that the speed control of BLDC motor on
maintain the fluctuation of speed with lower overshoot.
DCM mode with average current control method is able to
As the motor rotates at 1,100 rpm the THD value of
follow the changing reference speed. At the starting
current is 7.89% and continues to decrease as the motor
condition it takes 0.3 seconds to adjust the motor speed of
speed increases. There is significant change in THD value
2,000 rpm. At 2 second the reference speed drops drastically
due to the effect of speed changes. The value of harmonics
to 750 rpm and it takes 0.3 seconds to adjust the speed
will affect the value of distortion factor (DF), lower
control to adjust without any delay. The speed control of
harmonic of current will be the greater the value of DF. For
BLDC motor on DCM mode with an average current control
the value of displacement factor (DPF) which is the value of
method is able to maintain the stability of motor speed even
the angle difference between the voltage and current get
though the load torque is changed. At the beginning of the
better as the motor rotate at the speed rating. So it can be
starting of the motor, it takes 0.3 seconds to adjust to the
concluded that true power factor (TPF) which is the actual
speed of the motor rating of 2000 rpm. At 2 seconds, the load
power factor value due to the influence of harmonics will
torque drops drastically to 0.6 N.m and takes 0.3 seconds to
also get better with the increase of motor speed. This is
adjust to the next reference speed.
because of the value of TPF is a multiplication of the value
TABLE VI. THD OF C URRENT IN DCM M ODE WITH AVERAGE
of DF and DPF.
C URRENT C ONTROL M ETHOD
TABLE VII. THD OF C URRENT OF CCM MODE WITH HYSTERESIS
Speed THD C URRENT C ONTROL M ETHOD
No. DF TPF DPF
(RPM) (%) Speed THD
No. DF TPF DPF
1 1,100 2.42 1.00 1.00 1.00 (RPM) (%)
2 1,200 2.37 1.00 1.00 1.00 1 1,100 7.89 1.00 0.99 1.00
3 1,300 2.31 1.00 1.00 1.00 2 1,200 5.35 1.00 1.00 1.00
4 1,400 2.24 1.00 1.00 1.00 3 1,300 5.21 1.00 1.00 1.00
5 1,500 2.00 1.00 1.00 1.00 4 1,400 5.11 1.00 1.00 1.00
6 1,600 1.88 1.00 1.00 1.00 5 1,500 4.56 1.00 1.00 1.00
7 1,700 1.87 1.00 1.00 1.00 6 1,600 4.32 1.00 1.00 1.00
8 1,800 1.85 1.00 1.00 1.00 7 1,700 3.94 1.00 1.00 1.00
9 1,900 1.74 1.00 1.00 1.00 8 1,800 3.73 1.00 1.00 1.00
10 2,000 1.64 1.00 1.00 1.00 9 1,900 3.16 1.00 1.00 1.00
10 2,000 2.24 1.00 1.00 1.00
REFERENCE SPEED ACTUAL SPEED

REFERENCE SPEED ACTUAL SPEED

Fig. 11. Reference speed curve vs actual speed on BLDC Motor in DCM
average current control method.
Fig. 13. Reference speed curve vs actual speed on BLDC Motor in CCM
hysteresis current control method.

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 ACTUAL SPEED ACTUAL SPEED

Fig. 14. Actual BLDC motor speed with varied torque in CCM hysteresis
Fig. 16. Actual speed with variation of torque in DCM hysteresis current
current control method.
control.

D. DCM mode with Hysteresis Current Control Method. V. CONCLUSION

Table VII shows the results of hysteresis control under BIC converter is suitable for the converter platform in
DCM mode. The value of THD much lower compared to BLDC speed control because able to improve power factor
both CCM mode and overall results by average current by reducing THD from 218 % to 1.55% and raises power
control. Fig. 15 and 16 shows the speed characteristic of factor from 0.17 to unity. Performance of converter which is
BLDC motor under loaded condition. With the same case operated in DCM mode is better than CCM mode both in
condition, it is observed that BLDC motor with hysteresis average current control and hysteresis current control.
current control method is able to follow the changing However, if its compared from the simulation results,
reference speed and capable to maintain the speed whenever hysteresis current control method is better than average
the motor is loaded with varying torque. current control in terms of speed regulation and responding
THD analysis and the PF value of the control system were the fluctuation of load torque. Implementation of hysteresis
performed with the motor speed is maintained in the range current control method is very convenient because it uses
1,100 rpm to 2,000 rpm. Compared with CCM mode in only one PI controller and without a saw tooth wave
average current control and CCM hysteresis it is shown that generator.
the DCM in hysteresis method is better due to the at the same
speed of 1,100 rpm and 2,000 rpm, THD value on the REFERENCES
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