SSRG International Journal of Electrical and Electronics Engineering Volume 11 Issue 2, 11-18, February 2024

ISSN: 2348-8379/ https://doi.org/10.14445/23488379/IJEEE-V11I2P102 © 2024 Seventh Sense Research Group®

Original Article

Speed Control for BLDC Motor for Electric Vehicles

Applications by Different Kinds of Sliding Mode Control
Techniques
Mustafa F. Mohammed

Department of Business Information Technology, College of Business Informatics,

University of Information Technology & Communications, Baghdad, Iraq.

Corresponding Author : [email protected]

Received: 11 November 2023 Revised: 02 December 2023 Accepted: 12 January 2024 Published: 16 February 2024

Abstract - Brushless DC (BLDC) motors provide many benefits over normal DC motors. They have high efficiency, stability, low
noise, longer lifetime than other motor kinds, high torque to weight ratio, and most importantly, no commentator sparks. With
the other advantages, BLDC motors are widely used in electric vehicle applications. But in most cases, their rotational speed
has to be regulated. This paper presents a comparative study of BLDC motor speed control by three types of Sliding Mode
Control (SMC) techniques, which are 1st order, 2nd order, and Integral SMC. The motor ratings are 1 kW, 3000 r.p.m, at 3 N.m
load torque. The aim is to use the BLDC for electric vehicle applications. This research found that the integral SMC is superior
to the 1st-order and 2nd-order SMC techniques. Also, the lowest BLDC performance is obtained using the 2nd-order SMC
technique. At rated speed and full load conditions, it was found that steady-state errors for each controller are (2.4, 9.5, and 4.9)
r.p.m for each integral SMC, 2nd order SMC, and 1st order SMC, respectively. The entire system is simulated successfully by
MATLAB SIMULINK. The motor ratings are suitable for e-bike and tricycle applications.

Keywords - 1st order, 2nd order, BLDC, Driver, Integral, SMC.

1. Introduction speed regulation methods among PID, Fuzzy type-1, and

Due to the high reliability, efficiency, and low noise rate Interval Fuzzy Type 2 with PID controller (IT2FLPIDC). The
in operation with extended operation duty and low results presented the superiority in response to the
maintenance cost, Brushless DC motors (BLDC) are widely IT2FLPIDC over the other controlling techniques. A braking
used in many applications like electric vehicles, robots, system via regenerative energy of BLDC motor had been
drones, and etc. [1-3]. Compared to motors like DC or made by A.J. Godfrey and V. Sankaranarayanan [13] for
induction motors, BLDC motors, with their high efficacy, also Electric Vehicles (EV). Their work is based on energy
gain rapid dynamic response and can be regulated in a broader regeneration and stopping time. The performance is tested
range of rotational speeds [4, 5]. Many control schemes through braking torque, maximum conversion, and boost
regulate the BLDC motor’s speed [6]. rations.

The driver control for the BLDC motors is quite complex H. Hu et al. [14] employed a Genetic Algorithm (GA) as
since it uses many electronic switches, and their operation a tuner for the PI-Fuzzy logic technique to control the speed
should be precisely synchronized [7]. These motors can be of the BLDC motor. The role of the tuner is to set the proper
operated either in open-loop or closed-loop control systems, gains for the PI-Fuzzy logic technique. This method is tested
but most speed regulation is made through a closed-loop via simulation at various operating conditions. A control
system [8]. On the other hand, Slide Mode Controllers (SMC) algorithm can raise the BLDC motor output torque at high
are considered a robust control technique with rapid response, speeds by selecting the inverter Pulse Width Modulation
unlike conventional control techniques like PID controllers [9- (PWM) made by H. Kim et al. [15]. The relation among
11]. voltage utilization, dead time, and switching frequency are
analyzed mathematically. They aimed to use this algorithm for
Various researchers have used many controlling EV applications. A Sensorless Control Strategy for position
techniques to regulate the speed of the BLDC motors. F. control of the BLDC motors was made by X. Lee et al. [16].
Davoudkhani and M. Akbari [12] compared the BLDC motor A 3-phase 4-switch inverter operates the BLDC motor. The

This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)

 Mustafa F. Mohammed / IJEEE, 11(2), 11-18, 2024

scheme is used for flux-linkage, which varies with the The BLDC dynamic model is expressed by the following
maximum jump time. It can get 6 points of commutation that Equation [24]:
are required for the BLDC motor with no interpolation. H.
Maghfiroh et al. [17] designed a simulation speed controller va  r s 0 0  i a  L M M  i a  ea 
         (1)
for the BLDC motor using the fuzzy-PID technique. Their
vb    0 r s
0  ib   S  M L M  ib   eb 
research uses two Fuzzy PID methods: PID and PI with a v   0
“Fuzzy logic controller.”  c  0 r s  ic  M M L  ic  ec 

D. Bhavya and A. Raghuram [18] compared two types of Where M refers to the mutual inductance between phases,
DC/DC converters, CukSEPIC and SEPIC converters, to L refers to self-inductance, v represents the instantaneous of
supply BLDC motors for EV applications. PV solar panels the supplied phase voltage, and S is the “Laplace operator.”
power the converters. The incremental Maximum Power Point Then,
Tracking (MPPT) is used as well. The regenerative braking is
implemented through a logic control. In the Sliding Mode 𝑖𝑎 + 𝑖𝑏 + 𝑖𝑐 = 0 (2)
Control (SMC) field to regulate the speed of the BLDC motor,
K. Cherif et al. [19] used Fuzzy logic SMC (FSMC) as speed 𝑀𝑖𝑏 + 𝑀𝑖𝑐 = −𝑀𝑖𝑐 (3)
control of the BLDC motor where its performance is
compared with a PID controller. By substituting Equation (3) in (1) yields:

Also, J.W. Chan has developed a new SMC method to  dia 

  (4)
control the speed of the BLDC motor with a tiny overshoot  dt  1 0 0 van  r s 0 0  i a  ea 
percentage [20]. Most of the previous studies presented in the  di         
Ls  L  dt b   0 1 0 vbn    0 r s
0  ib   eb 
literature focus on using a Fuzzy logic controller to tune PID  0 0 1 vcn   0
or SMC parameters to regulate the motor speed. The BLDC

 dic 
0 r s  ic  ec 
 dt 
motor speed must be regulated precisely at various speeds for
EV applications. This can be achieved through employing
robust control techniques such as SMC methods. The current Where Ls=L-M, which represents per phase equivalent
paper presents a comparative study among three types of SMC self-inductance. The electromagnetic torque Te is:
techniques used to control the speed of a BLDC motor for EV
   ea ia  eb ib  ec ic
applications. This paper is arranged as follows: An P (5)
T
introduction, system description, speed regulation (SMC) e
2 m
techniques, results and discussion, and finally, the
conclusions. Where ωm is the rotational speed in (r.p.m). Usually, three
hall-effect sensors are placed inside the motor to measure the
2. Description of the BLDC Motor System motor position and generate the required pulses of the driver
The BLDC motors are also known as trapezoidal circuit. For the 8-pole BLDC motor, Table 1 lists the true table
permanent magnet machines because of the non-uniform air for the three-phase back e.m.f reference signals based on the
gap between the stator and rotor sides [21-23]. Trapezoidal measurement status of each hall-effect sensor [22]. Table 1
refers to the shape of the induced voltage at the motor stator lists the three reference signals and the six pulses for each
side. In most cases, the rotor is built from permanent magnets, IGBT switch of the driver circuit.
whereas the stator is made from identical windings separated
by 1200. Usually, the BLDC motors are supplied by DC Table 1. Module implements the following true table
voltage through a three-phase inverter driver circuit, as shown H(a) H(b) H(c) EMF (a) EMF (b) EMF (c)
in Figure 1.
0 0 0 0 0 0
0 0 1 0 -1 +1
1 Start A

S1 S3 S5
0 1 0 -1 +1 0
0 1 1 -1 0 +1
Vdc C
1 0 0 +1 0 -1
S2 S4 S6
1 0 1 +1 -1 0
1 1 0 0 +1 -1
Three-Phase Inverter
8 Pole BLDC 1 1 1 0 0 0
Fig. 1 8-pole BLDC motor with its driver circuit

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 Mustafa F. Mohammed / IJEEE, 11(2), 11-18, 2024

3. Speed Regulation via Sliding Mode Control

(SMC) ω∗𝑚 e 𝑒̇ SMC
Pulses to 6
Switches Motor
The functional block diagram for controlling the BLDC d/dt Speed
Controller
PWM
Driver
motor’s speed is shown in Figure 2. ωm

The speed control via Sliding Mode Control (SMC)

technique is well-thought-out, discontinuous, nonlinear, and Decoder
robust [25]. It is a suitable technique used to regulate or obtain
the desired operation of systems that their structure may
change during their typical operating conditions [25-27].
ωm 8 Pole
Hall BLDC
The SMC is used to slide the system State Variables (SV) Sensor Motor
on such a surface as a “sliding surface” [27]. Each SMC Fig. 2 Functional block diagram of speed control of the BLDC motor
technique puts the SV close to the sliding surface [27]. In our
system, let’s presume that the error 𝑒 and change of error 3.2. 2nd Order SMC
signifies the 𝑒̇ . In this technique, the sliding surface is nonlinear. The 𝜎
is determined by the following Equation [27]:
To make these SVs in an “asymptotic convergence” 𝑒 and
𝑒̇ go towards zero value, i.e., lim 𝑒 , 𝑒̇ = 0, then: 1
𝑡→∞ 𝜎 = 𝑒̇ + 𝑐|𝑒|2 𝑠𝑖𝑔𝑛(𝑒) (12)
𝑒(𝑡) = 𝑒(0)𝑒 −𝑐𝑡 (6) 3.3. Integral SMC
This method uses the integral SMC technique to
𝑒̇ (𝑡) = −𝑐𝑒(𝑜)𝑒 −𝑐𝑡 (7) compensate for system disturbances without an attainment
phase [27]. This technique lets the uncertainty equivalent
Where C>0, and there is a new variable called “σ” where: control variable u2(t) be multiplied by -1. Figure 3 represents
the flowchart of this technique to control the speed of the
σ= σ(𝑒, 𝑒̇ ) = 𝑒̇ + 𝑐𝑒 (8) BLDC motor.

Essentially, to drive σ towards zero in a limited time by 4. Results and Discussion

providing a regulatory variable called as “ u ” which is The proposed eight pole, 1 kW, and 3000 r.p.m BLDC
performed via applying “Lyapunov function techniques” to motor is used in this research. The specifications of the motor
the σ dynamics where: are listed in Table 2. For each SMC technique, the proposed
system is simulated by MATLAB SIMULINK.
𝜎̇ = 𝑐𝑒̇ + 𝑓(𝑒, 𝑒̇ , 𝑡) + 𝑢 (9)
At the startup operating condition, the motor is
Where σ(0)= σ0.
accelerated from a standstill to the rated speed at complete
In this paper, three types of SMC techniques are presented load condition. The speed measurements at each SMC
below: technique are presented in Figure 4.

3.1. 1st Order SMC By examining this figure, the system performance
employing the Integral SMC technique shows the fastest
In this SMC technique, the 𝜎 is determined by the
response, whereas the lowest response uses the 2nd order SMC
following formula [27]:
technique.
σ=𝑒̇ + 𝑐𝑒 (10)
The system performance with the 1st order SMC
technique is also faster than the 2nd order but slightly slower
It is desired to reach the sliding variable (σ) to zero, i.e.,
than the Integral SMC. Table 3 lists the main response features
each state variable values 𝑒, 𝑒̇ should go to zero. The controller
of each SMC technique at startup. In this table, the system
output is represented by the controlling variable u(t) where:
performance while utilizing Integral SMC is superior to the
other used SMC techniques. Figure 5 shows the phase-A
u(t)=-ρsign(σ) (11) current and back EMF voltage of the BLDC motor.

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 Mustafa F. Mohammed / IJEEE, 11(2), 11-18, 2024

Table 3. System performance at rated speed

Start
1st 2nd Integral
Performance
SMC SMC SMC
Measure 𝜔 m
Overshoot (%) 0 0 0
𝑒 = 𝜔𝑚∗ − 𝜔𝑚 Steady-State
𝑒̇ =d/dt (e) 2995.1 2990.5 2997.6
Value (r.p.m)
Define Surface Equation (𝜎) Time to Steady
0.018 0.25 0.012
σ=e+c𝑒̇ State (s)
Steady-State
4.9 9.5 2.4
Define Sliding Variable Equation (s) Error (r.p.m)
S=𝜎 − 𝑧
Phase A
Generate the Controlling Variable (u) 5

Stator Current (A)

u1=ρsign(S)
𝑧̇ = −𝑢2
u2=k𝜎 0
u=u1+u2
Then Send u to the Process

-5
No 0.1 0.105 0.11 0.115 0.12 0.125 0.13 0.135 0.14 0.145 0.15
𝑒=0
𝑒̇ = 0 Phase A
Yes 200
Back EMF (V)
End 100
0
Fig. 3 Flow chart of the integral SMC technique
-100
-200
Table 2. Specifications of the BLDC motor
0.1 0.105 0.11 0.115 0.12 0.125 0.13 0.135 0.14 0.145 0.15
Parameter Value
Time (s)
Nominal Power 1 kW Fig. 5 Stator phase-A current and back EMF
No. of Phases 3
Stator Resistance 2.8750 Ω For the sudden change in the desired speed of the BLDC
Stator Inductance 8.5 mH motor, Figure 6 shows the change in the desired speed from
1000 r.p.m to 2500 r.p.m at rated load. Compared with the
Flux Linkage 0.175 V.s results shown in Figure 4, the 2nd order still had a slower
No. of Poles 8 reaction to the sudden speed change than the other two SMC
Back EMF Flat Area 120 0 techniques (1st order and Integral).
Inertia 0.0008 J(kg.m2)
At increased speed, the frequency of voltage and current
Stator Voltage 500 V
will increase. Also, the current value slightly increases,
Rated Speed 3000 r.p.m whereas the voltage (back EMF) will grow higher. During the
transient time of the speed change, with the 1st order SMC, the
4000 current will dip to -25 A and rise 7.25 A at the speed change
instance. In the 2nd SMC, the change in current and back EMF
3500
is made so smooth due to the slower performance of the 2nd
3000 SMC method.
Speed (r.p.m)

2500 In the Integral SMC, the current will dip to -50 A and rise
2000 to 5.4 A at the speed change instance. Figure 6 also shows the
effect of speed change on the electromagnetic T_e torque of
1500
the BLDC motor, where the faster response to speed change
1000 st
1 Order SMC
delivers a higher increase of the T_e value during the transient
nd
2 order SMC period.
500 Integral SMC

0 To study the effect of change in the loading condition, the

0 0.05 0.1
0.2 0.15
0.25 0.3 0.35 0.4
Time (s) motor is exposed to a change in the load torque from 0.5 N.m
Fig. 4 Rated speed by different SMCs at startup and full load condition to full load condition, i.e., 3 N.m., as shown in Figure 7. This

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 Mustafa F. Mohammed / IJEEE, 11(2), 11-18, 2024

figure shows that the Integral SMC still performs more than SMC techniques. In this figure, it can be noted that the rapid
the 1st- and 2nd-order SMC techniques. response of the Integral SMC to the continuous changes in the
reference point is greater than that of the 2nd order SMC
After load application and compared with the startup technique. In comparison with some of the previous studies
results in Figure 4 and Table 2, the motor speed behaves the concerned with the speed control of BLDC motors, Table 4
same at rated load and speed conditions with the same steady- lists a significant comparison between them and the present
state error in the speed value. work.

Figure 7 represents the case for the BLDC performance at The comparison is made about the speed control method,
sudden changes in the motor speed, but what is the continuous response to changes in speed and load, and whether their
change in the desired speed like the pedal accelerator in the proposed method is compared with other controlling methods.
electric vehicles. Figure 8 presents the continuous change of The best results are obtained when the Integral SMC is used
the desired speed from (0 to 3000) r.p.m. at complete load among the previously presented speed control methods and
operating conditions between the 2nd order SMC and Integral the SMC methods presented in this paper.

3000
Speed (r.p.m)

2000 Desired Speed

st
1 Order SMC
nd
1000 2 Order SMC
Integral SMC
0
0.4 0.45 0.5 0.55 0.6 0.65 0.7

100
st
1 Order SMC
nd
2 Order SMC
Te (N.m)

Integral SMC
50

0
0.4 0.45 0.5 0.55 0.6 0.65 0.7
Time (s)

Fig. 6 Change in speed at rated load from (1000 to 2500) r.p.m

3100
st
1nd Order SMC
2 Order SMC
Speed (r.p.m)

Integral SMC
3000

2900
0.4 0.42 0.44 0.46 0.48 0.5 0.52 0.54 0.56 0.58 0.60

st
4 1 Order SMC
nd
2 Order SMC
Te (N.m)

Integral SMC
2

0
0.4 0.42 0.44 0.46 0.48 0.5 0.52 0.54 0.56 0.58 0.60
Time (s)

Fig. 7 Load change at rated speed

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 Mustafa F. Mohammed / IJEEE, 11(2), 11-18, 2024

4000

Speed (r.p.m)
2000
Reference
nd
2 Order SMC
0
0 1 2 3 4 5 6
Time (s)

4000
Speed (r.p.m)

2000
Reference
Integral SMC
0
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (s)
Fig. 8 The motor speed at the continuous changes in reference speed for 2 nd order and integral SMC techniques

Table 4. Previous research and present work comparison

Speed Control Speed Change Comparison with other
Ref. No. Load Change Response
Method Response Speed Control Methods
[12] IT2FLPIDC Good Good PID & FLC
C-PID, G-PID, T-PID-FLC,
[14] GA-PID-FLC Good Good
and more
Hybrid PWM
[15] Good Good No
Switching
[17] Fuzzy-PID Good Good PID
[19] FSMC Good Good PID
[20] New SMC Moderate Moderate PID
Rapid in ISMC
Rapid in ISMC then 1st
Proposed 1st order, 2nd Order, then 1st Order, and
Order, and Slow at 2nd Comparison among them
Work Integral SMC Slow at 2nd Order
Order SMC
SMC

5. Conclusion motor speed at various operating conditions rather than the 1st-
This paper presented a performance study of a 1kW 3000 and 2nd-order SMC techniques. For this fast response, the
r.p.m BLDC motor, which can be used for electrical vehicle BLDC motor should be rigid for the high rise in the voltage
applications. This research compares the system performance and current at the transient time of speed or load change.
for three types of SMC techniques, which are 1st order SMC,
2nd order SMC, and Integral SMC, to regulate the motor If the fast response is not the primary concern, or for weak
rotational speed. BLDC motors, 2nd order SMC can be employed. For the low
power of the used BLDC motor, the proposed SMC methods
From the results presented, it can be concluded that the can regulate the speed of E-bikes, E-tri-cycle bikes, or even
Integral SMC has the best performance in handling the BLDC vehicles with higher-rated BLDC motors.

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