International Journal of Applied Power Engineering (IJAPE)

Vol. 12, No. 3, September 2023, pp. 247~254

ISSN: 2252-8792, DOI: 10.11591/ijape.v12.i3.pp247-254  247

Closed-loop control of BLDC motor using Hall effect sensors

B. Ramesh, Kalagotla Chenchireddy, Baddam Nikitha Reddy, Bellamkonda Siddharth,

Chelmala Vinay Kumar, Putta Manojkumar
Department of Electrical and Electronic Engineering, Teegala Krishna Reddy Engineering College, Hyderabad, India

Article Info ABSTRACT

Article history: Due to its key advantages of top performance, strong torque, and simple
volume, brushless direct current (BLDC) motors are now extensively
Received Mar 31, 2023 employed in a variety of industrial sectors, including the automotive
Revised Apr 27, 2023 industry, robotics, and electrical vehicles. Yet, in some circumstances, it can
Accepted May 7, 2023 be challenging to use speed control techniques for specific devices. The
major goal of this work is to use a proportional integral derivative (PID)
converter to regulate the speed characteristics of BLDC. PID converter is
Keywords: preferred over all other converters because of its straightforward design and
straightforward implementation. Using MATLAB simulation results are
BLDC motor verified at different reference speed changing conditions, the motor input
Hall effect sensors current and back electromotive force (EMF) values are verified. The speed
PID controller and torque characteristics are verified during steady and transient state
Speed conduction.
Torque
This is an open access article under the CC BY-SA license.

Corresponding Author:
Kalagotla Chenchireddy
Department of Electrical and Electronic Engineering, Teegala Krishna Reddy Engineering College
Hyderabad, Telangana 500097, India
Email: [email protected]

1. INTRODUCTION
The significance of brushless direct current (BLDC) motor drives has gained more in the last
decades due to their power quality improvement and their extraordinary performance compared with other
drives [1], [2]. Field windings and armature windings are located on the stator and rotor, respectively, in DC
motors. Because there are brushes and dust has built up in them, upkeep is more expensive. Due to their
tendency to arc, DC motors can only be used in certain hazardous industries [3], [4]. The BLDC motor could
be changed to resolve this. Because it is more efficient, requires less money, has a large ratio of torque to
weight and is simple to operate at all speeds [5], [6]. The importance of taking into account a large ratio of
torque to weight is that it has a long operational life, is silent, and is more effective than others [7]. The
BLDC motor can solve the issue of electrical erosion and mechanical friction. Hall sensors are used to
determine the motor's position [8]. To achieve a smooth speed operation and torque with a low ripple content,
the motor must be controlled]. Electronic commutation of the BLDC motors results in trapezoidal back
electromotive force (EMF) signals. The proportional integral derivative (PID) controller adjusts the motor's
input voltage continually based on the discrepancy between the intended speed and the true speed. The PID
controller's proportional, integral, and derivative gains are adjusted to produce the desired responsiveness and
stability [9]. In an open loop, BLDC motor the control technique involves voltage control, pulse width
modulation (PWM), and frequency control [10]. The open-loop speed control is more accurate than the
closed-loop speed control as external factors like temperature and load variations are included [11]–[15].
The open loop BLDC motor model is used in MATLAB, and the responses are used to study under
various circumstances.

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248  ISSN: 2252-8792

2. BRUSHLESS DC MOTOR
Figure 1 shows the permanent magnet rotor (moving component) and stator windings make up a
BLDC motor (fixed part). The brushless DC motor is an AC synchronous motor without brushes or
commentators [16]–[19]. It has a compact form, noiseless operation, long operation life, and high efficiency,
unlike DC motors. Hall effect sensors (H) monitor the coil's position concerning the motor's magnetic field.

R
S3 S5
S1 D1 D3 D5 Ib
Vbatt

L
C b
a c
S4 S6
S2
L L
D2 D4 D6
R
Ia Ic R

Ha
PM
Controller Hb Motor
Hc

Figure 1. Equivalent circuit of brushless DC motor [4]

A stator is connected in Y in a BLDC motor type, and each phase's resistance and inductance are
equal. Losses like those caused by iron cores, eddy currents, and hysteria are disregarded. The BLDC motor's
phase voltage formula is displayed as (1).
𝑢𝐴 𝑅 0 0 𝑖𝐴 𝐿−𝑀 0 0 𝑖𝐴 𝑒𝐴
𝑑
[ 𝑢𝐵 ] = [ 0 𝑅 0 ] [𝑖𝐵 ] + [ 0 𝐿−𝑀 0 ] [𝑖 𝐵 ] + [ 𝑒𝐵] (1)
𝑑𝑡
𝑢𝐶 0 0 𝑅 𝑖𝐶 0 0 𝐿−𝑀 𝑖𝐶 𝑒𝐶

Figure 2 shows the back EMF waveforms, Hall effect sensor waveforms and current waveforms of
the BLDC motor. The wave forms are varied each 60°, the back EMFs are at each instant one positive, one
negative and third EMF zero. A brushless DC motor's electromagnetic torque is computed as (2).

Armature Current
Back Emf
2400 3000 3600 600
00 600 1200 1800

Ea, Ia

Ha

Hb

Hc

Figure 2. Characteristic waveforms of a BLDC motor [5]

Int J Appl Power Eng, Vol. 12, No. 3, September 2023: 247-254
Int J Appl Power Eng ISSN: 2252-8792  249

𝑒𝐴 𝑖𝐴 +𝑒𝐵 𝑖𝐵 +𝑒𝑐 𝑖𝑐
𝑇𝑒 = (2)
𝜔𝑚

Where 𝜔𝑚 is the rotational angular velocity in radians per second and 𝑇𝑒 is the electromagnetic torque. To
calculate the motion of the BLDC motor:
𝐽𝑑𝜔𝑚
𝑇𝑒 − 𝑇𝐿 = + 𝐵𝑣 𝜔𝑚 (3)
𝑑𝑡

where, 𝑇𝐿 is load torque, 𝐽 is the moment of inertia of the motor a Bvisthe friction coefficient. The equation
for the relationship between the rotor's location and speed is (4).
𝑑𝜃 𝑃
= 𝜔𝑚 (4)
𝑑𝑡 2

Where 𝑃 is the number of poles and is the rotor's pole position.

3. CONTROL SCHEME
3.1. Brushless DC motor speed adjustment
Figure 3 shows the most popular method of controlling BLDC motors is by the use of Hall sensors,
which serve the dual purposes of position and speed sensors. Nevertheless, its primary flaw is that it collects
current speed data, which is displayed as inaccurate [20]–[22]. In this paper, we use pulse width modulation
(PWM) for controlling the power to the device. The main advantage of this technique is low power losses
while switching the devices. Two loops are shown in the block diagram above, one of which is used to
measure the speed of the BLDC motor, and the other of which is used to power a three-phase, six-step
inverter. The generated torque must match the driver's desired torque and be in control of the brake and
accelerate pedals. Torque control is a need. In the range up to the rated speed, torque remains constant. The
BLDC motor can operate at its top speed, but the torque may decrease. Torque control can be mainly used in
traction units and electric cars.

DC Supply

Three-phase BLDC Load

inverter Motor

Gating
Signals
Current controller
Is*
and commutation
sequencer Position Sensor

Figure 3. Block chart of the torque control scheme

3.2. PID controller mathematical equations

The motor's speed, torque, and voltage are measured and relayed back as feedback using a PID
controller [23]–[25]. The terms proportional (P), integral (I), and derivative (D) make up a PID controller.
The controller can shorten the rise time and dampen oscillations.
- The transfer function of the PID controller
𝐾𝑖
𝑢(𝑠) = [𝐾𝑝 + + 𝐾𝑑 𝑠] 𝐸(𝑠) (5)
𝑠

- Controller equation in the time frame

𝑡 𝑑𝑒
𝑢(𝑡) = 𝐾𝑝 𝑒(𝑡) + 𝐾 ∫𝑖 𝑒 (𝑡)𝑑𝑡 + 𝐾𝑑 (6)
𝑑𝑡

𝐾𝑖 𝑡 𝐾 𝑑𝑒
𝑢(𝑡) = 𝐾𝑝 (𝑒(𝑡) +
𝐾𝑝
∫ 𝑒 (𝑡)𝑑𝑡 + 𝐾𝑑 𝑑𝑡 ) (7)
𝑝

Closed-loop control of BLDC motor using Hall effect sensors (B. Ramesh)
250  ISSN: 2252-8792

𝐾𝑝 𝐾𝑑
𝑇𝑖 = 𝑎𝑛𝑑 𝑇𝑑 = (8)
𝐾𝑖 𝐾𝑝

1 𝑡 𝑑𝑒
𝑢(𝑡) = 𝐾𝑝 (𝑒(𝑡) + ∫ 𝑒(𝑡)𝑑𝑡 + 𝑇𝑑 𝑑𝑡 ) (9)
𝑇𝑖

3.3. Commutation logic

A brushless DC engine is an electric motor that requires an electronic commutation system to
control its speed and direction. Unlike DC motors BLDC motors do not use brushes to transfer the power
instead they use a controller to send electric signals to motor windings to generate a rotating magnetic field.
Figure 4 shows the logic gate circuit for switching on the inverter circuit. Figure 4(a) shows the Hall effect
signal to EMF signal. Figure 4(b) shows the EMF signal to GATES. The Hall effect sensors are used in the
control scheme. The Hall effect sensors are a key role in the BLDC motor circuit.

(a)

(b)

Figure 4. Logic circuit connecting from (a) Hall to EMF and (b) EMF to GATES

4. SIMULATION RESULTS
Figure 5 depicts the output response of stator currents of A, B, and C to time. The maximum
amplitude of the waveform is 3 A. Phase B and C are the same as phase A but 120 electrical degrees phase
shift to each other. Figure 6 depicts the output response of the back EMFs of the engine. The signal is called
a TRAPEZOIDAL SIGNAL. The three-phase stator back EMF magnitudes are shown in the figure. The
magnitude is 200 V. The magnitude of voltage is 0 to 0.1 s is a very less and transient state.

Int J Appl Power Eng, Vol. 12, No. 3, September 2023: 247-254
Int J Appl Power Eng ISSN: 2252-8792  251

Figure 5. Three-phase stator current characteristics Figure 6. Back EMF characteristics

Figure 7 depicts the output response of the speed-torque characteristics. Here the supply voltage is
constant. Speed took 3000 rpm. Here torque is inversely proportional to the speed. Speed is measured in rpm
and torque is taken as newton per meter. The motor’s rate of spinning depends on the relation between the
applied voltage and the loaded torque. Figure 8 depicts the output responses of the Hall effect signals for
phases A, B, and C. The signals represent the density of a magnetic field around the device.

Figure 7. Speed-torque characteristics Figure 8. Hall effect signal characteristics

Figure 9 shows the output responses of the motor in two different speed conditions. The Figure 9(a)
is taken when the motor speed is 3500 rpm. The Figure 9(b) is taken when the speed is 2500 rpm. From
the above speed-torque characteristics we can conclude that the output result doesn’t change even if
the speed varies.

Closed-loop control of BLDC motor using Hall effect sensors (B. Ramesh)
252  ISSN: 2252-8792

(a) (b)

Figure 9. Speed-torque characteristics in different speed conditions (a) reference speed 3000 rpm and
(b) reference speed 2500 rpm

5. CONCLUSION
This study described how to effectively control the speed of an open loop brushless DC motor.
A BLDC engine's pace can be controlled using a PID controller in a variety of applications. Moreover, it
offers improved precision and lessens motor wear and tear. The paper's primary goal is to demonstrate how
long a motor can operate reliably. MATLAB/SIMULINK software is used to verify the characteristics,
including stator current, back EMF, and speed-torque characteristics, which are considered under various
speed situations.

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BIOGRAPHIES OF AUTHORS

B. Ramesh is received the B.Tech. and M.Tech. from JNTU Hyderabad,

Hyderabad, India, in 2010 and 2012 respectively and pursuing Ph.D. in KLU university,
Vijayawada, India. He is working presently as Assistant Professor in Teegala Krishna Reddy
Engineering College, Hyderabad, India. He has presented technical papers in various national
and international journals and conferences. He can be contacted at email:
[email protected].

Kalagotla Chenchireddy is received the B.Tech. and M.Tech. from JNTU

Hyderabad, Hyderabad, india, in 2011 and 2013 respectively and pursuing Ph.D. in Karunya
Institute of Technology and Sciences, Karunyanagar, Coimbatore, TN, India. He is working
presently as Assistant Professor in Teegala Krishna Reddy Engineering College, Hyderabad,
India. He has presented technical papers in various national and international journals and
conferences. His area of interest includes power electronics, power quality, and multilevel
inverters. He is regular reviewer ISA Transactions, Cybernetics and Systems SCIE journals.
He can be contacted at email: [email protected].

Closed-loop control of BLDC motor using Hall effect sensors (B. Ramesh)
254  ISSN: 2252-8792

Baddam Nikitha Reddy is presently UG Student in Electrical and Electronics

Engineering, Teegala Krishna Reddy Engineering College, Hyderabad, India. She has
presented technical papers in various national and international journals and conferences. His
area of interest includes power electronics, power quality, and multilevel inverters. She
developed electromagnetic train in Teegala Krishna Reddy Engineering College, Hyderabad.
She can be contacted at email: [email protected].

Bellamkonda Siddharth is presently UG Student in Electrical and Electronics

Engineering Department, Teegala Krishna Reddy Engineering College, Hyderabad, India. He
has presented technical papers in various national and international journals and conferences.
His area of interest includes power electronics, power quality, and multilevel inverters. He
developed hybrid vehicle in Teegala Krishna Reddy Engineering college Hyderabad. He can
be contacted at email: [email protected].

Chelmala Vinay Kumar is presently UG Student in Electrical and Electronics

Engineering Department, Teegala Krishna Reddy Engineering College, Hyderabad, India. He
has presented technical papers in various national and international journals and conferences.
His area of interest includes power electronics, power quality, and multilevel inverters. He
got first prize national level project expo 2023 in NNRG College Hyderabad. He can be
contacted at email: [email protected].

Putta Manojkumar is presently UG Student in Electrical and Electronics

Engineering Department, Teegala Krishna Reddy Engineering College, Hyderabad, India. He
has presented technical papers in various national and international journals and conferences.
His area of interest includes power electronics, power quality, and multilevel inverters. He
developed solar inverter in Teegala Krishan Reddy Engineering College, Hyderabad. He can
be contacted at email: [email protected].

Int J Appl Power Eng, Vol. 12, No. 3, September 2023: 247-254