Investigation of mathematical modelling of brushless

dc motor(BLDC) drives by using matlab-simulink

M.Poovizhi M.Senthil Kumaran P.Ragul L.Irene Priyadarshini
Department of EEE Department of EEE Department of EEE Department of EEE
SSN College of Engineering SSN College of Engineering SSN College of Engineering SSN College of Engineering
Chennai, India Chennai, India Chennai, India Chennai, India
[email protected] [email protected] .in [email protected] [email protected]

R.Logambal
Department of EEE
SSN College of Engineering
Chennai, India
[email protected]

Abstract— The main purpose of this research paper is to efficiency, noiseless operation, high reliability, low
describe a mathematical simulation modelling of Brushless DC maintenance and optimized size [1-2]. The application of the
(BLDC) motor drive with the help of MATLAB - SIMULINK motor is spread widely in various fields like aerospace,
environment. The application of these motor is to spread widely robotics, industrial process control, automotive electronics and
in various fields like aerospace, robotics, industrial process
control, precision machine tool, automotive electronics and
household application [3-6]. In order to improve the overall
household application. In this paper, the mathematical modelling performance of BLDC motor drive, they have developed the
of BLDC drive is efficiently controlled by using pulse width performance of machine modelling and control technique. The
modulation (PWM) current controller technique. This model is model of BLDC motor drive has been established by using
developed for observing speed and torque characteristics of the efficient control technique in simulation. The BLDC motor
BLDC motor and also the current and voltage components of the drive was analyzed depending upon state-space equations,
inverter. An elaborate explanation about operating principle of fourier transform, d-q axis model, variable sampling, time
BLDC motor drive and PWM current control technique is frequency [7-9]. Besides, PWM current control techniques are
shown. Here a whole mathematical modelling of BLDC motor used to analyze BLDC motor drives in literature [10-16].
drive simulation is carried out by using MATLAB-SIMULINK
software. The above mentioned survey paper have made a great
impact about the study of BLDC motor. But still now, a brief
Keywords—Brushless DC (BLDC) motor, PWM current control explanation of mathematical modeling of BLDC motor and
technique, Electric drive simulation, Matlab- Simulink.
PWM current control technique has not been carried out. In
I. INTRODUCTION this research paper, a comprehensive mathematical simulation
model with PWM current control technique is presented by
The past year conventional DC motor was invented in 1840 using MATLAB-SIMULINK environment.
in that period of time DC motor is the only machine which is
operated by electrical source. One century later after the II. CONSTRUCTION AND OPERATING PRINCIPLE OF BLDC MOTOR
invention DC motor, some scholars started research to discover
a BLDC motor using an electronic commutator in the year
1930. At the time manufacturing of power electronic devices
where in the initial stage. In 1962 hall effect elements where
used to develop controller for BLDC. The BLDC motor is
developed on the basis of Brushed DC motor is one of the
special electrical synchronous motor which has back EMF in
the form of trapezoid wave and current in the form of quasi-
rectangular wave. According to ANSI/IEEE standard 100 in
1984, this motor is defined as “BRUSHLESS ROTARY
MACHINE”. Moreover in 1987, NEMA standard MG7
consider the motor as a self-synchronous rotary machine
controlled by electronic commutator. Trapezoid wave/square
wave BLDC motor have starting characteristics as a DC series
motor and speed regulation characteristics as a DC shunt
motor. It is widely getting popular because of its higher
Fig. 1. Structure of BLDC motor drive.

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Fig. 1. shows the structure of BLDC motor drive. It consists of of which the motor create its torque due to interaction of
three major parts: Motor structure, Power driving controller magnetic field produced by the stator coils. This will produces
circuit and Position sensors. These parts are described below, the trapezoidal back EMF in the motor during running
condition. Position of the rotor gets detected by the Hall Effect
A. Stator Sensor which will give the exact position of the rotor that
helps the controller to command proper gating signal to the
Stator of the BLDC motor is similar to the construction of
switches of the inverter. There is an inverter unit which is fed
AC (asynchronous) motor and conventional DC motor
to the BLDC motor consists of switches. In the each
working and principles respectively. The stator of a BLDC
conduction period two switches are to be turned on where one
motor consists of stacked steel laminations with slots in the
is positive and another is negative based on the commutation
inner periphery. Windings of the stator can be arranged in two
sequence. The remaining process of BLDC motor will also
connections, i.e. Star and Delta connections. If the stator
take place as above. The six-step commutation sequence of
windings are connected in star connection, torque is high and
BLDC motor drive as shown in Fig. 2 and Table I summarize
speed is low each of these windings are constructed with
the sequential modes of BLDC motor drive is given below.
several interconnected coils, with one or more coils are placed
in the stator slots. In delta connection torque is low and speed
also low because half of the input voltage is applied across the
winding. These motor have two types of back EMF
respectively, trapezoidal and sinusoidal. The output torque by
a sinusoidal motor is smoother than that of a trapezoidal
motor, this comes with an extra cost, because sinusoidal
motors take extra winding interconnections because of the
coils distribution on the stator periphery.
B. Rotor
The rotor of the BLDC motor is an independent one which
is not connected to the supply, and it’s made of permanent
magnet steel. Depending upon the application required poles
may get varied, based on the magnetic field density proper
magnetic material for rotor is chosen. Ferrite magnet are used
for making BLDC rotor this type of magnets are less
expensive but they have demerits of low flux density. Now a
day’s technology develops rare earth alloy like Neodymium,
Samarian cobalt, Neodymium ferrite, and Boron are used.
They have the advantages of high coercivity and remanence
intensity. (a)
C. Hall Effect Sensor
The BLDC motor gets controlled by the electronic
commutator, which is different from traditional commutator.
Hall Effect Sensors (Ha, Hb, Hc) in the BLDC motors are
displaced by an angle of 120° phase shift. The winding of the
BLDC motor is energized by the electronic commutator, so
the poles are created in the stator and the permanent magnet
rotor get rotate according to the commutation sequence. Hall
Effect Sensors are used to sense the rotor position which is
embedded in the stator itself. This will send the digital signal
high or low, so the positions of the rotor get detected.

D. Theory Of Operation

The BLDC motor works according to the six step

commutation sequence. Consecutively, each phase of BLDC
motor is excited by Hall Effect Sensor. At each mode of these
motor only two phases are energized at any instant and third
phase is non-energized. Consider mode 1, B and C windings
are energized and A winding is non-energized based on the
measured rotor position from the Hall Effect Sensor, because (b)
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 (c)
(f)
Fig. 2. Six-step commutation sequence of BLDC.

TABLE I. SEQUENTIAL MODES OF BLDC MOTOR

Hall Effect
Sensor Energizing Non-
Electrical
Modes Energizing
Theta(θe) Phases Phases
Ha Hb Hc

0 - π/6 0 0 1 Mode 1 C+,B- A0

π/6 - π/2 1 0 1 Mode 2 B-,A+ C0

π/2 - 5π/6 1 0 0 Mode 3 A+,C- B0

5π/6 - 7π/6 1 1 0 Mode 4 C-,B+ A0

(d)

7π/6 - 9π/6 0 1 0 Mode 5 B+,A- C0

9π/6-11π/6 0 1 1 Mode 6 A-,C+ B0

11π/6 - 2π 0 0 1 Mode 7 C+,B- A0

III. MATHEMATICAL MODELLING OF BLDC MOTOR

Fig. 3. shows the block diagram of closed loop control of

Brushless DC motor (BLDC) drive, which contains two loops
such as current control loop and speed control loop. In current
control loop, which accomplishes the torque control of BLDC
motor and speed control loop that adjusts the speed of BLDC
motor.

(e)

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 Fig. 4. shows the star connection of three phase winding of
BLDC motor and Fig. 5. shows the current direction in phase
A. The three phase 2-pole BLDC motor is consider for
differential equations. The stator is star-connected
concentrated full-pitch winding and the rotor is non-salient
permanent magnet rotor. Three hall-effect sensor (Ha, Hb, Hc)
displaced by an angle of 120° phase shift. Respective
diagrams are given above.

This derived equation will help us to understand the phase

Voltage of each windings, change in rate of flux, direction of
induced EMF and back EMF,

ଡ଼ ൌ  ଡ଼ ଡ଼ ൅ நଡ଼ (1)

Where ଡ଼ ଡ଼ is the phase voltage and current,  represented

as A, B, C, நଡ଼ is the induced EMF of each phase and  ଡ଼ is
the resistance of each winding.
Induced EMF of each phase can be written as

†நଡ଼
Fig. 3. Block diagram of closed loop control of BLDC motor drive. நଡ଼ ൌ ሺʹሻ
†–

Consider ሺɗଡ଼ ሻƒ•–Š‡ɗ୅ ǡ ɗ୆ ǡ ɗେ

‘”Šƒ•‡ǡ ǡ ˆŽ—šሺɗ୅ ǡ ɗ୆ ǡ ɗେ ሻ‹•‰‹˜‡„›

ɗ୅ ൌ   ୅ ୅ ൅ ୅୆ ୆ ൅ ୅େ େ ൅ ɗ୮୫ ሺɅሻ

ɗ୆ ൌ  ୆ ୆ ൅ ୆େ େ ൅ ୆୅ ୅ ൅ ɗ୮୫ ሺɅሻሺ͵ሻ
ɗେ ൌ   ୆ ୆ ൅ େ୅ ୅ ൅ େ୆ ୆ ൅ ɗ୮୫ ሺɅሻ

Where ɗ୮୫ ሺɅሻ represented as permanent magnet flux

linkage of phase (A, B, C), Ʌ is the rotor position angle ୅ ൌ
୆ ൌ େ is the self-inductance, and ୅୆ ൌ ୅େ ൌ ୆େ ൌ
୆୅ ൌ େ୅ ൌ େ୆ represented as mutual inductance
Substitute (2) and (3) in (1)
†
Fig. 4. Star connected winding. ୅ ൌ  ୍୅ ൅ ሺ୅ ୅ ൅ ୅୆ ୆ ൅ ୅େ େ ሻ ൅ ୅
†–
†
୆ ൌ  ୍୆ ൅ ሺ୆ ୆ ൅ ୆େ େ ൅ ୆୅ ୅ ሻ ൅ ୆ ሺͶሻ
†–
†
େ ൌ  ୍େ ൅ ሺେ େ ൅ େ୅ ୅ ൅ େ୆ ୆ ሻ ൅ େ
†–

୅୆ ൌ ୅େ ൌ ୆େ ൌ ୆୅ ൌ େ୅ ൌ େ୆ ൌ 

 ୅ ൌ ୆ ൌ େ ൌ  ሺͷሻ
୅൅ ୆൅ େ ൌͲ

Substitute (5) in (4)

†୅ †୅
୅ ൌ  ୍୅ ൅  െ  ൅ ୅
†– †–
† †
୆ ൌ  ୍୆ ൅  ୆ െ  ୆ ൅ ୆ ሺ͸ሻ
†– †–
†େ †େ
େ ൌ  ୍େ ൅  െ  ൅ େ
Fig. 5. Current direction in phase A. †– †–

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A. Modelling Of Trapezoidal Back Electromotive Force ͳ Ͳ ൏ Ʌୣ ൑ Ɏൗ͸
‫ۓ‬
The function of rotor positions (Ʌ) are expressed as a back ۖ ൬െ ͸൰ Ʌ ൅ ʹ Ɏൗ͸ ൏ Ʌୣ ൑ Ɏൗʹ
EMF, it is given in (7) ۖ Ɏ ୣ
ۖ
୅ ൌ ɗ୫ ɘ୰ ˆ୅ ሺɅୣ ሻ ˆେሺ஘౛ ሻ ൌ െͳ Ɏൗʹ ൏ Ʌୣ ൑ ͹Ɏൗ͸ ሺͳͳሻ
ʹɎ ‫ ۔‬͸
୆ ൌ ɗ୫ ɘ୰ ˆ୆ ൬Ʌୣ ൅ ൰
 ͵ ሺ͹ሻ ۖ൬ ൰ Ʌୣ െ ͺ ͹Ɏൗ ൏ Ʌୣ ൑ ͻɎൗ
ۖ Ɏ ͸ ͸
ʹɎ ۖ
େ ൌ ɗ୫ ɘ୰ ˆେ ൬Ʌୣ െ ൰ ͳ  ͻɎൗ ൏ Ʌ ൑ ʹɎ
͵ ‫ە‬ ͸ ୣ

 B. Modelling of Motion Equation

ɘ୰ ൌ ൬ ൰ ɘ୫ ሺͺሻ
ʹ
୉ ൌ ୅ ൅ ୆ ൅ େ
Where ɗ୫ is the maximum value of permanent magnet
flux linkage of each winding, ɘ୰ is the electrical speed of the ሺ୅ ୅ ൅ ୆ ୆ ൅ େ େ ሻ
motor (rad/sec) and P is the number of poles. ୉ ൌ ሺͳʹሻ
ɘ୫
Substitute (8) in (7)
ɗ୫ ʹɎ
For example, Taking phase A from equation (7) ୉ ൌ ൤ˆ୅ ሺɅୣ ሻ ൅ ˆ୆ ൬Ʌୣ ൅ ൰ ୆
୅
ʹ ͵
 ʹɎ
୅ ൌ ɗ୫ ൬ ൰ ɘ୫ ˆ୅ ሺɅୣ ሻ ൅ ˆେ ൬Ʌୣ െ ൰ େ ൨ሺͳ͵ሻ
ʹ ͵
—„‡”‘ˆ‘Ž‡•ሺሻ
‘Ž‡ƒ‹” ൌ BLDC motor runs in 120° conduction mode with respective
ʹ
ୠ commutation process is neglected and current having same
୅ ൌ ɘ୫ ൬ ൰ ˆ୅ ሺɅୣ ሻ amplitude and opposite direction flow through two phase
ʹ
 ୠ ൌ ɗ୫ ሺͻሻ windings are the star connected motors. The simple of ˆሺɅୣ ሻ
Substitute (9) in (7) shows the flat top position which are opposite to any other
ୠ winding.
୅ ൌ ɘ୫ ൬ ൰ ˆ୅ ሺɅୣ ሻ ɗ୫
ʹ ୉ ൌ ሾʹ ሿ
ୠ ʹɎ ʹ
୆ ൌ ɘ୫ ൬ ൰ ˆ୅ ൬Ʌୣ ൅ ൰ሺͳͲሻ
ʹ ͵ ୉ ൌ  ୘
ୠ ʹɎ
େ ൌ ɘ୫ ൬ ൰ ˆେ ൬Ʌୣ െ ൰
ʹ ͵ Where  ୘ is the torque coefficient
Where ɘ୫ is the mechanical speed of the motor The motion equation is given by,
(rad/sec) ˆ୅ ሺɅୣ ሻ , ˆ୆ ሺɅୣ ሻǡ ˆେ ሺɅୣ ሻ are the functions of rotor
position. The ˆ୅ ሺɅୣ ሻ , ˆ୆ ሺɅୣ ሻǡ ˆେ ሺɅୣ ሻ are mentioned as †ɘ୫
trapezoidal function, which limit between +1 to-1 are ୉ െ ୐ ൌ ൅ ɘ୫ ሺͳͶሻ
†–
expressed as †ɘ୫ ͳ
͸ ൌ ሺ୉ െ ୐ െ ɘ୫ ሻ
†–
‫ۓ‬ ൬ ൰ Ʌୣ Ͳ ൏ Ʌୣ ൑ Ɏൗ͸ ͳ
ۖ Ɏ
ɘ୫ ൌ න ሺ୉ െ ୐ െ ɘ୫ ሻ
ۖ ͳ Ɏൗ ൏ Ʌ ൑ ͷɎൗ
ۖ ͸ ୣ ͸ ʹ
͸ ɘ୫ ൌ ൬ ൰ ɘ୰
ˆ୅ሺ஘౛ ሻ ൌ  ൬െ ൰ Ʌୣ ൅ ͸ ͷɎൗ ൏ Ʌୣ ൑ ͹Ɏൗ  
‫۔‬ Ɏ ͸ ͸
ۖ െͳ ͹Ɏ ൗ͸ ൏ Ʌୣ ൑ ͳͳɎ ൗ͸ ݀ߠ௥
ۖ ɘ୰ ൌ ൬ ൰
†–
ۖ ͸
‫ە‬൬െ Ɏ൰ Ʌୣ െ ͳʹ ͳͳɎൗ͸ ൏ Ʌୣ ൑ ʹɎ †Ʌ୰ 
ൌ ൬ ൰ ɘ୫
െͳ Ͳ ൏ Ʌୣ ൑ Ɏൗʹ †– ʹ
‫ۓ‬ Where ୐  is the electromagnetic torque ୐ is the load
ۖ ൬͸൰ Ʌ െ Ͷ Ɏൗʹ ൏ Ʌୣ ൑ ͷɎൗ͸ torque (N-m), J is the rotor moment of inertia (Kgm2), B is the
ۖ Ɏ ୣ
ۖ friction coefficient (Nms/rad) and ߠ௥ is the electrical angle.
ˆ୆ሺ஘౛ ሻ ൌ  ͳ ͷɎൗ͸ ൏ Ʌୣ ൑ ͻɎൗ͸
‫ ۔‬͸ IV. SIMUALTION RESULTS
ۖ൬െ ൰ Ʌୣ ൅ ͳͲ ͻɎൗ ൏ Ʌୣ ൑ ͳͳɎൗ
ۖ Ɏ ͸ ͸ For the closed loop control of BLDC motor drive
ۖ simulation results shown in Fig. 6. and the specification of
െͳ  ͳͳɎ ൗ͸ ൏ Ʌୣ ൑ ʹɎ
‫ە‬ BLDC motors are mentioned in table II.

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 TABLE II. PARAMETERS OF BLDC MOTOR V. CONCLUSION
Specification of BLDC motor
In this paper, the mathematical modelling of BLDC motor
Parameters Range Unit
Stator phase resistance and
drive was derived with expression and also the speed and
0.2, 8.5e-3 Ω, Henry torque characteristics of these motor was obtained by using
Inductance
No. of Pole Pairs 4 - MATLAB-SIMULINK software.
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