This article has been accepted for publication in a future issue of this journal, but has not been

fully edited. Content may change prior to final publication. Citation information:
DOI 10.1109/TPEL.2015.2413593, IEEE Transactions on Power Electronics

IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. , NO. , March 2015 1

Position Sensorless Control without Phase Shifter for

High-speed BLDC Motors with Low Inductance and
Nonideal Back EMF
Wenzhuo Li, Jiancheng Fang, Member, IEEE, Haitao Li and Jiqiang Tang

1
Abstract—This paper presents a novel method for position constant high speed to supply the demanded angular
sensorless control of high-speed brushless dc (BLDC) motors momentum for the high-speed rotor system. For space
with low inductance and nonideal back electromotive force
(EMF) in order to improve the reliability of the motor system of application, high reliability and low power loss are demanded
a magnetically suspended control moment gyro (MSCMG) for in the high-speed motor. Brushless dc (BLDC) motors with
space application. The commutation angle error of the ironless and slotless stator are introduced [3]–[5].
traditional line-to-line voltage zero-crossing points (ZCPs)
A BLDC motor is usually driven by a three-phase full
detection method is analyzed. Based on the characteristics
measurement of the nonideal back EMF, a two-stage bridge inverter employing a two-phase conduction method
commutation error compensation method is proposed to achieve [3]–[9]. Normally, the commutation logic of the inverter
the high reliable and high accurate commutation in the transistors is provided by the position sensors such as Hall
operating speed region of the proposed sensorless control
process. The commutation angle error is compensated by the
sensors [3]–[6]. It has the advantage of simple control
transformative line voltages, the hysteresis comparators and the algorithm and mature application. However, it has some
appropriate design of the low-pass filters (LPFs) in the low limitations in the harsh environment especially in space
speed and high speed region respectively. High precision application. The unavoidable lead wires of the position
commutations are achieved especially in the high speed region
to decrease the motor loss in steady state. The simulated and sensors will decrease the system reliability. Moreover, the
experimental results show that the proposed method can high placement accuracy of Hall sensors is hard to achieve,
achieve an effective compensation effect in the whole operating which will increase the motor power loss of the steady state in
speed region.
the high speed region [3]. During the past few decades,
Index Terms—Brushless dc (BLDC) motor, position position sensorless control methods [9]–[26] have become a
sensorless control, back electromotive force (EMF) detection. popular research topic for the enhanced reliability. Also, the
compensation of the position detection error is a research
hotspot in current sensorless control methods [9], [11],
I. INTRODUCTION [13]–[28]. The error in the estimation scheme of the rotor
position will inevitably decrease the motor efficiency [3], [11]

A s the key actuator for the attitude control of space

stations and satellites, a magnetically suspended control
especially in the high speed region. Thus, in order to achieve
high reliability and low steady-state power loss, a high
moment gyro (MSCMG) has the character of high-precision, accuracy commutation scheme for sensorless control of the
large-moment and long-life owing to the zero friction and high-speed BLDC motor of an MSCMG should be proposed.
enhanced damping of a high-speed rotor [1], [2]. The The phase back electromotive force (EMF) zero-crossing
high-speed motor of an MSCMG is usually operating at a points (ZCPs) detection method [7]–[10] is widely used in
the position sensorless control. The ZCPs detection of phase
1
voltages is accomplished using the motor neutral voltage in
Manuscript received Oct. 9, 2014; revised Jan. 20, 2015; accepted
[7]. The virtual neutral point is adopted in [8] for the motor in
March 4, 2015. Date of current version . This work was supported by the
Chinese National Innovation Community Foundation under Grant which the neutral point voltage cannot be easily achieved.
61121003 and by the Chinese National Natural Science Foundation under The ideal commutation instants which are the ZCPs of the
Grant 61203112, 61473018 and 61403015. Recommended for publication line-to-line back EMF voltages delayed to the ZCPs of the
by . phase back EMF voltages by 30 electrical degrees. The
Wenzhuo Li, Jiancheng Fang, Haitao Li and Jiqiang Tang are all with
calculation of the commutation instants should take the phase
Fundamental Science on Novel Inertial Instrument & Navigation System
delay of the low-pass filter (LPF) and the motor velocity into
Technology Laboratory, Beijing University of Aeronautics and Astronautics,
Beijing, China (e-mail: [email protected]; [email protected]; account especially in the high-speed region. A phase shifter
[email protected]; [email protected]). which can shift the detected ZCP signals with a specific angle
is proposed in [9] by implementing on a microcomputer. The
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DOI 10.1109/TPEL.2015.2413593, IEEE Transactions on Power Electronics

2 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. , NO. , March 2015

compensated phase is calculated in real time. This kind of [29]–[31]. It should be noted that for the high-speed motor of
method needs hardware or software resource that may lead to an MSCMG with 6 magnetic pole pairs, the commutation
computational errors. The research in [11] adopts a frequency is 6-kHz at the speed of 10000 r/min. A high
coordinate transformation method to compensate the rotor accuracy commutation estimation method which can restrain
position detection error by controlling the angle between two the commutation angle error within 3 degrees at the speed of
coordinates in real time. The method is suitable for the wide 10000 r/min should adopt a high AD sampling frequency
speed range. The method using the integration of the larger than 100-kHz, which is hard to achieve in the current
unconducting phase back EMF voltage is presented in [12]. motor controller of an MSCMG. Thus, the position sensorless
However, the error accumulation problem in low speed control method based on sampling of the motor currents or
region should be taken into account. In [13], the sensorless voltages [11], [19], [21]–[28] is hard to achieve high
control method based on the phase-lock loop and the commutating accuracy in the high speed region restricted to
third-harmonic back EMF is proposed. In this method, the the current hardware resource.
motor neutral point voltage is required. BLDC motors with ironless and slotless stator usually have
The ZCPs detection of the three phase line-to-line voltages low inductance. The high-speed BLDC motor of an MSCMG
is used to determine the commutation instants [14]–[20]. The is driven by a three-phase full bridge inverter with a buck
method using the line voltage differences to detect the ZCPs converter [3], [4]. Compared to the traditional PWM control
of the phase back EMFs is suggested in [14], where the 30 scheme, this kind of control scheme can achieve low power
electrical degrees phase shift is still unavoidable. The consumption for high-speed motors with low inductance [32].
research in [15]–[17] proposed the line-to-line voltage ZCPs Also, since the three-phase full bridge is controlled by
detection method without the motor neutral voltage to commutation logic without PWM, the LPF can be designed
determine the commutation instants directly. However, the to have a higher cut-off frequency. Thus, the line-to-line
position detection error due to the phase delay of the LPF and voltage ZCPs detection method which can simply and
the voltage drop on the stator resistance still cannot be directly provide the commutation instants without phase
neglected [18]. A software error compensation method is shifter is appropriate for the high-speed BLDC motor of an
proposed in [18], which may bring in complicated algorithm MSCMG.
and need high sampling frequency for a high-speed motor. However, the commutation angle error caused by LPF and
The research in [19] proposes an accurate and robust system delay is unavoidable in the line-to-line voltage ZCPs
sensorless method based on a speed-independent position detection method [18] in the high speed region especially for
function. This method also needs high sampling frequency in the high-speed motor with a large number of magnetic pole
the high speed application. Hysteresis comparator is adopted pairs. The large commutation angle error will cause the
in [20] for ZCPs detection of the three phase line-to-line abnormal conduction of freewheeling diodes in the unexcited
voltages based on ideal trapezoidal back EMF. The phase for the motor with low inductance in the high speed
commutation error is decreased in the whole operating speed region, which may increase the motor loss and decrease the
region of the sensorless control method. However, this motor efficiency [3]. Moreover, since the high-speed rotor of
method is not effective in the low speed region since the an MSCMG has large inertial mass and the high-speed motor
effect of voltage drop on the stator resistance on the has small torque constant kτ and rated current, the switching
commutation detection error is obvious [18]. Also, the motor speed of the start-up process and the sensorless control
neutral voltage is needed in the proposed method. A special process based on back EMF detection is low. Then the large
voltage source value of the hysteresis comparator should be commutation angle error caused by the voltage drop on the
generated. stator resistance in the low speed region [18] of the line
Recently, many estimation and observer methods [21]–[26] voltage detection sensorless process cannot be neglected
are adopted in the position sensorless control scheme. The since it may cause the motor stop. Thus, the relationship
research in [21] adopts a sensorless scheme using back EMF between the commutation error and the motor rotating
mapping method with a single known reference slope. The velocity is nonlinear in the operating speed region of the
motor torque constant is used as a reference signal for traditional line voltage detection sensorless control process
position detection in [22]. Sliding-mode observer [23], [24] for the high-speed motor in an MSCMG. The existing
and Kalman filter [25], [26] methods are proposed to achieve commutation angle error compensation methods [9], [11],
high accuracy estimation of the rotor position. Moreover, [13]–[26] rarely focusing on the motors with nonideal back
extended Kalman filter methods are presented in [27] and [28] EMF are not suitable for the high-speed motor of an MSCMG
for sensorless control of camless internal combustion engines to achieve the high reliable and simple control system. Thus,
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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information:
DOI 10.1109/TPEL.2015.2413593, IEEE Transactions on Power Electronics

LI et al.: POSITION SENSORLESS CONTROL WITHOUT PHASE SHIFTER FOR HIGH-SPEED BLDC MOTORS WITH LOW INDUCTANCE AND NONIDEAL BACK EMF
3

the commutation detection error should be analyzed in detail. the phase inductance of the ironless stator motor is negligible.
An appropriate commutation error compensation method The ideal commutation instants are the intersections of every
should be proposed to insure high reliable and high accurate two phase back EMFs. When and only when the motor is
commutation detection of the sensorless control method in commutating with the ideal commutation instants, the
the whole operating speed region of the back EMF based maximum electromagnetic torque with the minimum dc-link
sensorless control process for the high-speed motor of an current and the lowest commutation torque ripple will be
MSCMG. achieved [3].
This paper proposes an improved position sensorless D7
+ Lf ud
control method for the high-speed BLDC motor with low T1 T3 T5
inductance and nonideal back EMF. Based on the analysis of T7 D1 D3 D5
iA uA R L eA-

+
the position detection error of the traditional line voltage iB uB R L +eB-
uN
uin D0 C0
detection method, a two-stage commutation error iC uC R L eC-

+
T4 T6 T2
compensation method using virtual neutral point without D4 D6 D2
complicated software algorithm is proposed. The - i
transformative line voltages and hysteresis comparators are Fig. 1. The topology of buck-converter motor combinations.
adopted to achieve high precision commutation in the
medium and high speed region. Meanwhile, LPFs and the
transformative line voltages are adopted to achieve high III. TRADITIONAL LINE BACK EMFS SENSING
reliable commutation in the low speed region. The parameter SCHEME
design of the proposed method is presented in detail. The
effect of the nonideal back EMF voltage is eliminated by the A. Traditional Line Back EMFs sensing
characteristic parameters measured in the off-line mode. The
E eA eB eC
proposed method can directly generate commutation signals Ec
replacing Hall signals and achieve high reliable and high
accurate commutation without phase shift measures in the 0 ωt
whole operating speed region of the back EMF based
sensorless control process. Simulation and experimental − Ec
−E
results show the validity and effectiveness of the proposed E+Ec eAB eBC eCA
method.

II. MATHEMATICAL MODEL OF BLDC MOTORS 0 ωt

The inverter topology of the high-speed motor of an

MSCMG is shown in Fig. 1. The motor input voltage is − E− Ec
state 1 2 3 4 5 6
regulated by a buck converter containing two energy storing
elements, a coil and a capacitor. The output voltage of the Fig. 2. Nonideal back EMF voltages of high-speed motor of MSCMG.
buck converter satisfies ud = Duin, where D is the duty ratio
The line-to-line back EMF voltages are contained in the
the switch T7. The voltage equations of three phases can be
corresponding line-to-line voltages of three phases.
represented as
Considering that x, y, z represent the upper switch conducting
 u A  R p iA  LdiA / dt  eA  u N
 phase, the lower switch conducting phase and the floating
 uB  Rp iB  LdiB / dt  eB  uN , (1) phase, the three line-to-line voltages can be expressed as
u  R i  Ldi / dt  e  u
 C p C C C N u xy  2 R p ix  exy

where Rp = R + r is satisfied, R is the stator resistance, r is the u yz   R p ix  eyz , (2)
switch on-state resistance, L is the phase inductance, uA, uB u   R i  e
 zx p x zx
and uC are the three-phase voltages, iA, iB and iC denote the
from (1) by neglecting the low phase inductance value. uxy > 0,
three-phase currents, eA, eB and eC are the back EMF voltages
uyz < 0 and uzx < 0 can be deduced since exy > 0, eyz ≤ 0 and ezx
of three phases, and uN is the neutral voltage.
≤ 0 satisfy. Fig. 2 shows the three phase back EMF voltages
In the work presented here, the resistances of the three
and line-to-line back EMF voltages respectively. Since the
phase windings are considered to be constant and equal. Also,
value of stator resistance is small, the ZCPs of line-to-line
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voltages can be used to determine the commutation instants. is achieved. ta  tb and tb  IL /(2IRp  E  Ec ) can be
Generally, the LPF is adopted to deal with the calculated since ud  2IRp  E  Ec satisfies.
commutation ripple and measurement noise of the terminal According to the motor ratings shown in Table I, the time
voltages. Since the buck converter can provide smooth and intervals of commutation ripple with different operating
controllable motor input voltage and the six switches in currents are depicted in Fig. 3. It can be learnt that the
three-phase full bridge are controlled without PWM, the high commutation interval decreases with the increasing motor
frequency ripples in the terminal voltages caused by the speed. Thus, for the high-speed motor of the MSCMG with
traditional PWM control scheme are decreased. Thus, the low inductance, the commutation interval is less than 10μs.
cut-off frequency of the LPF can be chosen as a higher value Appropriate LPF should be chosen to insure high reliability
to avoid large phase delay at the high speed for the of the ZCPs detection of line-to-line voltages.
high-speed motor of an MSCMG. TABLE I
System Ratings
The commutation ripple should be taken into account in
the design of LPF. Taking the commutation from state 3 to Specifications Quantity
Number of pole pairs 6
state 4 shown in Fig. 2 for example, the switch T1 is turned off
Moment of inertia, J 0.00955kg·m2
after the commutation. The current of phase A will not
Torque constant, kτ 0.01Nm/A
decrease to zero immediately due to the existence of phase
Back-EMF constant, ke 0.0015V/r/min
inductance. It will freewheel through the diode D4. Terminal resistance, R 0.15Ω
Substituting uA = 0, uB = ud, uC = 0, eA = eB = Ec and eC = –E Armature inductance, L 3.4μH
into (1), uN = (ud – 2Ec + E)/3 is achieved, where E denotes Converter input voltage, uin 35V
the flat magnitude of phase back EMF voltage and Ec denotes Capacitor of the buck converter, C0 5μF
the magnitude of the crossing point of two phase back EMF Inductance of buck converter, Lf 1mH
voltages. The equation of (1) can be written as
 ud  E  Ec
Commutation Ripple Time (μs)

 R p iA  LdiA / dt    ua1 5
3
 4
I=2.5A
 2ud  Ec  E
 R p iB  LdiB / dt   ub1 . (3) I=2A
 3 3
 ud  2 Ec  2 E
 R p iC  LdiC / dt    uc1 2 I=1.5A
 3 I=1A
1
Then the three phase currents can be calculated as
0
 ua1
R
ua1  Lp t 2000 4000 6000 8000 10000
iA   ( I  )e Rotor Speed (r/min)
 Rp Rp
Fig. 3. The time intervals of commutation ripple with different operating
 R
 ub1 ub1  Lp t currents.
iB   e , (4)
 Rp Rp
B. Position Detection Error
 Rp
i  uc1  ( uc1  I )e  L t 1) Voltage Drop on the Stator Resistance
 C Rp Rp

by solving the differential equations in (3) with the initial E0
E2 eC
value iA (t = 0) = I, iB (t = 0) = 0 and iC (t = 0) = –I. The time Ec
Rpi
intervals of the current of phase A decreasing from I to zero
eA
and the current of phase B increasing from zero to I can be E1
calculated as
3IL
ta  , (5)
3IRp  ud  E  Ec θr

3IL ωt
tb  . (6)  / 6  /12 0  /12  / 6
2ud  Ec  E Fig. 4. Phase delay caused by voltage drop on stator resistance.
When the motor is operating at a low speed,
From (2), the ZCPs of the line-to-line voltage uCA shown in
ud  3IRp  2E  2Ec may be achieved. ta  tb and
Fig. 4 satisfy uCA = Rpi + eCA = 0, where i is the dc-link current.
ta  IL /(2IRp  E  Ec ) can be deduced. When the motor is
Then eCA = −Rpi is achieved in the detected commutation
operating at a medium or high speed, ud  3IRp  2E  2Ec
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LI et al.: POSITION SENSORLESS CONTROL WITHOUT PHASE SHIFTER FOR HIGH-SPEED BLDC MOTORS WITH LOW INDUCTANCE AND NONIDEAL BACK EMF
5

instant. Since the ideal commutation instant satisfies eCA = 0, where ft is the frequency of the terminal voltage which
the detected ZCP of the line-to-line voltage is delayed to the satisfies ft = p·f, p is the number of motor magnetic pole pairs,
ideal commutation instant. f is the motor rotating frequency. The delayed angles caused
Using the piece-wise linearization of the nonideal phase by the LPF with different cut-off frequencies are shown in Fig.
back EMF voltage, the delayed angle θr can be calculated as 5 (b). The delayed angle increases with the motor speed.
  Rp i 3) Abnormal Conduction of the Freewheeling Diode in the
 , R p i  E2  E1 Unexcited Phase
 12 E2  E1
r   , (7) The research in [3] mentioned that the nonideal
  R p i  ( E2  E1 )   , R i  E  E commutation instant will cause the abnormal conduction of
 12 E  ( E  E ) 12 p 2 1
 0 2 1 the freewheeling diode in the unexcited phase at high speed.
where E0, E1, E2 are the magnitudes of back EMF voltage of It should be noted that the conduction of the freewheeling
phase A at the electrical angle of  / 6 ,  /12 and  /12 diode will affect the terminal voltages, which may introduce
shown in Fig. 4 respectively. commutation instant detection error as well.
Fig. 5 (a) shows the delayed angle caused by voltage drop We still take the commutation instant shown in Fig. 4 for
on stator resistance with the different operating currents. The example. When the detection commutation instant is delayed
influence of phase delay caused by voltage drop on stator to the ideal one, the three phase voltages satisfy uA = eA + uN,
resistance is obvious at low speed. In the medium and high uB = 0 and uC = ud. Substituting the three phase voltages into
speed region, the phase delay is small. Also, it should be (1), the unconducting phase voltage and the current of phase
noted that the delayed angle increases with the operating C can be calculated as
current. u  2eA  eB  eC
uA  d , (10)
0 0 Rf =0.00002
2
u  (eC  eB )
Electrical Angle (degree)

Rf =0.00003 iC1  d 0. (11)

Electrical Angle (deg)

I=1A
-10 -5 2R p
I=1.5A
I=2A The abnormal conduction of the freewheeling diode in the
-20 -10
I=2.5A unexcited phase will happen when uA > ud satisfies. The
Rf =0.00004
-30 -15 voltages of the two commutation phases can be expressed as
Rf =0.00005 u AN  Rp iA  eA

-40 -20  . (12)
2000 4000 6000 8000 10000 2000 4000 6000 8000 10000
Rotor Speed (r/min) uCN  Rp iC  eC

Rotor Speed (r/min)
(a) (b)
Since iA = 0 is satisfied when the conduction of the
Fig. 5. The delayed angle of the traditional line back EMFs sensing freewheeling diode does not happen and iA < 0 is satisfied
scheme. (a) Caused by voltage drop on stator resistance with
different operating currents. (b) Caused by LPF with different cut-off when the conduction of the freewheeling diode happens, the
frequencies. voltage uAN decreases when the conduction of the
uA R1 uAF freewheeling diode happens. Also, substituting uA = ud, uB = 0
R4 C1 and uC = ud into (1), the current of phase C can be calculated
uB R2 uBF
as
u  (eC  eB )  (eA  eC )
R5 C2 iC 2  d . (13)
3R p
uC R3 uCF
Compared (11) with (13), iC1  iC 2  0 is achieved from
R6 C3
(10) and uA > ud. Thus, the voltage uCN will increase when the
Fig. 6. The LPF used in the terminal voltage detection circuit.
conduction of the freewheeling diode happens. The
line-to-line voltage uAC is smaller than the normal state,
2) Phase Delay of the LPF
which will cause the ZCP of the line-to-line voltage with
The LPF circuit shown in Fig. 6 is adopted in the detection
abnormal conduction of the freewheeling diode in the
of the three terminal voltages. The transfer function of the
unexcited phase delayed to the ZCP of the line-to-line voltage
LPF and the delayed angle caused by the LPF are given as
in the normal state.
u AF R4
 , (8) 4) System delay
uA R1  R4  R1 R4C1s The system delay caused by hardware circuit and software
2 R1 R4C1 ft algorithm may cause the position detection error. The
 f   arctan   arctan 2 R f ft , (9)
R1  R4 response time of the amplifier and comparator and the

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computing time of the sensorless control algorithm should be IV. DESIGN OF THE PROPOSED TWO-STAGE
taken into account. The delayed angle will increase with the ERROR COMPENSATION METHOD
motor speed since the delayed time of hardware circuit and Commutation instant Ideal commutation
software algorithm is constant. Since the software delay is after compensation instant

very short, it can be negligible. The measured hardware delay

uASF1
of the system is shown in Table II. The detected commutation E0
error angle caused by system delay is expressed as E2
eAF
s  2 Ts ft , (14) Ec
uASF
E1
where Ts is the sum of the hardware system delayed time. eCF
θf
TABLE II uCSF
θc
Hardware System Delay eA
θa θr eC
Specifications Quantity ωt
 /12 0  /12 Commutation instant
The detection The comparator LM139 1.3μs θt without compensation
circuit The amplifier TL084 4μs
The drive The 3 phase bridge driver IR2130 3μs Fig. 8. The operation of the compensation method.
circuit The power MOSFET IRF540 0.1μs
A commutation instant detection method based on the
0 compensated ZCPs of line voltages is adopted. As shown in
Fig. 8, the ZCPs of the transformative line voltages uABSF1,
Electrical Angle (deg)

Rf =0.00003
-20
uBCSF1 and uCASF1 satisfying uABSF1 = uASF – uBSF1, uBCSF1 = uBSF
Rf =0.0001
-40
– uCSF1, uCASF1 = uCSF – uASF1 are advanced to the ZCPs of the
filtered line voltages uABSF, uBCSF and uCASF satisfying uABSF =
-60 uASF – uBSF, uBCSF = uBSF – uCSF, uCASF = uCSF – uASF. The
Rf =0.0004 amplified voltages satisfying uASF1 = m·uASF, uBSF1 = m·uBSF
-80 and uCSF1 = m·uCSF are used to generate the compensated
2000 4000 6000 8000 10000
Rotor Speed (r/min) commutation instants, where m>1 is achieved. The
compensation method based on transformative line voltages
Fig. 7. The delayed angle caused by ZCPs detection of the line voltage
is effective when the compensation angle is less than 30
method with the motor current of i = 3A
electrical degrees. In order to achieve accurate compensation
The commutation angle error caused by traditional ZCPs effect in the rated speed, the cut-off frequency of the LPF
detection of line voltages during the whole operating speed should not be chosen too small.
region of the high-speed motor of an MSCMG is shown in LPF Comparator

medium and high speed region

Commutation signals for
Fig. 7. The sensorless control based on back EMF detection uA uB uC uBSFH _ +Vdc S
1H
is working in the speed region of a low speed such as uASF
R1 R2 R3 + -Vdc
R10 R11
1000r/min to the rated speed for the high-speed motor of an R4 R5 R6
uCSFH _ +Vdc
S2H
MSCMG. It can be learnt that the commutation angle error uBSF
+ -Vdc
C1 C2 C3 R13
decreases with the increasing motor speed in the low speed uAF uBF uCF R12
uASFH _ +Vdc
region and increases in the medium and high speed region. S 3H
R7 R8 R9 uCSF
+ -Vdc
Also, the delayed angle caused by the small value of the uS R14 R15
cut-off frequency of the LPF in the high speed region is large, Difference Circuit uBSFL _ +Vdc
S1L
Commutation signals

uASF
for low speed region

which inevitably increases the motor steady-state power loss. + -Vdc

Thus, a proper compensation method of the delayed Amplifing uCSFL _ +Vdc S
Circuit 2L
commutation angle should be proposed to achieve high uBSF
+ -Vdc
uCSF
reliable commutation in the operating speed region of the uBSF Amplifing and uASFL _ +Vdc S
back EMF based sensorlesss control process and high uASF LPF Circuit 3L
uCSF
+ -Vdc
accurate commutation in the high speed region for the
high-speed motor of an MSCMG. Transformative circuit
Fig. 9. The compensation circuit with the virtual neutral point.

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DOI 10.1109/TPEL.2015.2413593, IEEE Transactions on Power Electronics

LI et al.: POSITION SENSORLESS CONTROL WITHOUT PHASE SHIFTER FOR HIGH-SPEED BLDC MOTORS WITH LOW INDUCTANCE AND NONIDEAL BACK EMF
7

R25 _ R26  Rp I m
R19 _ R20 uASFL  , 2R p I m  kr f z
uASF
uASFH
+  24( R f  Ts )kr
+ R16 C
4
fz   , (16)
 Rp I m
R21 _ R22
R27 _ R28
uBSFL  24( R  T )(k k  k ) , 2R p I m  kr f z
uBSF
uBSFH
+
 f s 3 c r

+ R17 C5 where Im is the maximum motor operating current in the

R29 _ R30 speed region of the proposed sensorless control process.
R23 _ R24 uCSFL
uCSF
uCSFH
+
Using the piece-wise linearization method, the
+ R18 C characteristic parameters of the phase back EMF voltage of
6
Amplifing Amplifing and
Circuit LPF Circuit
the discussed high-speed motor shown in Table III can be
measured in the off-line mode at a reference speed.
Fig. 10. The transformative circuit of the proposed commutation error TABLE III
compensation method. System Parameters

A two-stage compensation method shown in Fig. 9 is Specification Quantity

proposed to achieve high accurate commutation in the high ks1 0.7109
speed region and high reliable position sensorless k2 1.0937
k3 1.1233
commutation scheme in the back EMF based sensorless
k4 1.151
control process. In the medium and high speed region, the
kc 0.01124
transformative line voltages and hysteresis comparators are
adopted to achieve high accurate commutation angle B. Error Compensation Scheme in the Medium and High
compensation effect. Then the commutation signals S1H, S2H Speed Region
and S3H are generated to replace the Hall position signals.
The compensation circuit using the virtual neutral point is
Meanwhile, LPFs and transformative line voltages are
shown in Fig. 9 and Fig. 10. The voltage of the virtual neutral
adopted to achieve high reliable commutation in the low
point uS is given as
speed region of the proposed sensorless control process,
uS  q(uAF  uBF  uCF ) / 3 , (17)
where the commutation signals S1L, S2L and S3L are generated.
where q is the divider resistance ratio of the LPF satisfying
The transformative circuit of the proposed compensation
q=R4/(R1+R4)= R5/(R2+R5)= R6/(R3+R6). From (1), the
method is shown in Fig. 10.
voltage difference between the virtual neutral point and the
A. The Two-stage Switching Point of the Proposed actual neutral point can be calculated as
Method uSN  uS  quN  q(eA  eB  eC ) / 3 . (18)
In the motor operating speed region, the delayed angle of From Fig. 8 which shows the compensation scheme, the
the detected commutation instant can be expressed as filtered back EMF voltages of the two commutation phases
d ( ft )   f ( ft )  r ( ft )  s ( ft ) . From equations (7), (9) during [  /12 , 0], [0,  /12 ] and [  /12 ,  / 6 ] are given
and (14), the equation of d '( f z )  0 is adopted to calculate as
the switching point of the proposed two-stage error  12 E1
compensation scheme, where fz is the motor terminal voltage eAF (t )   t  E1
 , (19)
frequency in the two-stage switching point speed of the e (t )  E  12( E0  E2 ) t
proposed error compensation method. The equation can be  CF 2

simplified as  12( Ec  E1 )
  Rp i eAF (t )  
t  E1
  2 ( R f  Ts ), 2R p i  kr ft  , (20)
e (t )  E  12( E2  Ec ) t
2
12 kr ft
 d '( ft )   ,  CF 2

 Rp i
 2 ( R f  Ts ), 2R p i  kr f t
12 (k k  k ) f 2  12( E2  Ec ) 
 3 c r t
 e (t )  (t  )  Ec
(15)  AF  12
 . (21)
by using the first order Taylor series expansion which e (t )  E  12( Ec  E1 ) (t   )


CF c

satisfies arctan 2 R f ft  2 R f ft , where kr  (k2  k1 )kc , 12
k1  E1 / Ec  1 , k2  E2 / Ec  1 , k3  E0 / Ec  k2 , kc = Ec / The hysteresis comparator is adopted to insure high
ft are achieved. The two-stage switching point of the reliable senseless detection in the medium and high speed
proposed method can be calculated as region. The hysteresis comparator will introduce phase delay
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8 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. , NO. , March 2015

which should be compensated in the proposed sensorless expressed as

method. Taking the phase voltages of A and B for example,  a   r  c . (28)
the voltage equations of the hysteresis comparator are given Using the detected angle error and the advanced angle at
as the rated speed to calculate the parameter of the
 R10  R11 R compensation scheme, the amplifying ratio mh and hysteresis
VASFin1  R uBSFH   10 Vdc
 11 R11 threshold uth satisfy
 , (22)
 f '( f m )  s '( f m )  c '( fm ) ,
V R10  R11 R10 (29)
 u   V
 ASFin 2 R11
BSFH
R11
dc
 f ( f r )  s ( fr )  c ( fr ) , (30)
where VASFin1 and VASFin2 satisfying VASFin1 > VASFin2 are the where fm is the motor terminal voltage frequency in the
voltages of phase A when the output voltage of the hysteresis midpoint of the medium and high speed region satisfying fm
comparator switches from −Vdc to Vdc and from Vdc to −Vdc =( fh − fz)/2, fr is the motor terminal voltage frequency
respectively. From (22), the hysteresis comparator has the satisfying fr =3( fh − fz)/4, fh is the motor terminal voltage
amplifying effect expressed as uASF1 = (1+n)·uASFH, uBSF1 = frequency in the rated speed. Using the first order Taylor
(1+n)·uBSFH and uCSF1 = (1+n)·uCSFH, where n = R10/R11 = series expansion which satisfies arctan 2 R f f h  2 R f f h ,
R12/R13 = R14/R15 is achieved. uth and –uth are the two the equations (29) and (30) can be simplified and solved as
thresholds of the hysteresis comparator satisfying  72( f r 2  f m 2 )( R f  Ts )(k2  k1 )
uth  nVdc . (23)  mh  1 
 (1  k4 ) f r  24( f r 2  f m 2 )( R f  Ts )kh1
Thus, the sum amplifying ratio mh is expressed as  , (31)
 24(1  k4 )( R f  Ts )kr f r f m 2 q
mh  ma (1  n) , (24) uth  (1  k ) f  24( f 2  f 2 )( R  T )k  qR p I s
where ma = 1 + R20/R19 = 1 + R22/R21 = 1 + R24/R23 is achieved.  4 r r m f s h1

From Fig. 8, since uASF = qeAF – uSN and uCSF = qeCF + qRpi – from (9), (14) and (26) when  f ( f r )  s ( f r )   /12
uSN are achieved, the equation of satisfies, where kh1  1  2k1  k2 satisfies and Is is the motor
uCASFH  uCSF  (1  n)u ASFH current in the steady state. Also, from (27), when
 qeCF  qRp i  qmh eAF  (mh  1)uSN
, (25)  f ( f m )  s ( f m )   /12 satisfies, the equations can be
solved as
can be deduced. The proper parameters mh and uth should be
 72( f r 2  f m 2 )( R f  Ts )(kh 3  k1 )  3(kh 3  k2 ) f r
chosen to achieve high accurate error compensation. When  h
m  1 
the delayed angle caused by LPF and system delay satisfies  kh 2 f r  24( f r 2  f m 2 )( R f  Ts )kh 3
 ,
 f  s   /12 , 1  3( Rp i  uth1 ) / ( Ec  E)  mh  8kh 4 ( R f  Ts )kc f r f m 2 q
 uth   qR p I s
 1  3(k2  k1  Rp i  uth1 ) / [(2k1  k2  k4 ) Ec ] is achieved.  kh 2 f r  24( f r 2  f m 2 )( R f  Ts )kh 3
Using the transformative line voltage, the advanced angle is (32)
given as where kh 2  4k1  2k2  k3  k4 , kh3  2k1  k2  k3 and
 (mh  1)(1  k4 ) kh 4  3k1k3  10k1k4  k2 k4  3k3 k4 are achieved. When
c  [
12 mh  1  (mh  2)k2  (2mh  1)k1  f ( f m )  s ( f m )   /12 and  f ( f r )  s ( f r )   /12
, (26)
3R p i  3uth1 1 satisfy, the equations can be solved as
 ]
mh  1  (mh  2)k2  (2mh  1)k1 Ec  72( R f  Ts )[(kh 3  k1 ) f r 2  (k2  k1 ) f m 2 ]
 mh  1 
by substituting uth1  uth / q , c   /12  t , (18)， (20) and  kh 2 f r  24[kh 3 f r 2  kh1 f m 2 ]( R f  Ts )
(25) into uCAFH(θt) = −uth. k4  E / Ec  1 is achieved.  3(kh 3  k2 ) f r
 
When the delayed angle caused by LPF and system delay  kh 2 f r  24[kh 3 f r 2  kh1 f m 2 ]( R f  Ts )
satisfies  f  s   /12 ,  , (33)
u  576( R f  Ts ) (kh 3  k1  k1k3 ) f m f r kc q
2 2 2
mh  1  3(k2  k1  Rp i  uth1 ) /[(2k1  k2  k4 ) Ec ] is achieved.
 th kh 2 f r  24[kh 3 f r 2  kh1 f m 2 ]( R f  Ts )
From (19), the advanced angle is given as 
 (2mh  1)k1  (mh  2)k2  (mh  1)k4  24( R f  Ts )kh 5 f m 2 f r kc q
 c  [1     qR p I s
12 (2mh  1)k1  (mh  2)k3  (mh  2)k2  kh 2 f r  24[kh 3 f r 2  kh1 f m 2 ]( R f  Ts )
. (27)
3Rp i  3uth1 1 where kh5  2k1  2k2  k3  k1k3  k1k4  k2 k4 satisfies.
 ]
(2mh  1)k1  (mh  2)k3  (mh  2)k2 Ec Similarly, the compensation parameters in the medium and
Thus, when mh  1  3( Rp i  uth1 ) /( Ec  E) is achieved, the high speed region can be calculated using the piece-wise
delayed angle caused by the voltage drop on stator resistance linearization method to measure the nonideal phase back
can be compensated completely. The compensation angle is EMF voltage in the off-line mode. The compensation effect

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DOI 10.1109/TPEL.2015.2413593, IEEE Transactions on Power Electronics

LI et al.: POSITION SENSORLESS CONTROL WITHOUT PHASE SHIFTER FOR HIGH-SPEED BLDC MOTORS WITH LOW INDUCTANCE AND NONIDEAL BACK EMF
9

with different operating currents is shown in Fig. 11. Rf = transformative line voltage in the low speed region are
0.00003 is selected to insure acceptable phase delay in the expressed as
rated speed. The switching point speed is calculated as ml  ma mb , (37)
4000r/min where fz = 400Hz is achieved. The amplifying uCASFL  uCSF  u ASFL
, (38)
ratio is calculated as mh=2.28. The hysteresis threshold is  q(eCF  Rp i  ml eAF )  (ml  1)uSN
calculated as uth1 =3.3, uth1 = 3.1 and uth1 = 2.9 respectively
where mb = 1 + R26/R25 = 1 + R28/R27 = 1 + R30/R29 is achieved.
when the motor operating current is 1A, 2A and 3A. From Fig.
The amplifying ratio ml can be calculated by
11, the compensation effect in the low speed region is  fl ( f zm )  c ( f zm ) , (39)
imperfect.
where fzm=0.75fz is satisfied. Since the hysteresis comparator
The switching point speed fz
i=3A will introduce large phase delay and the line voltage value is
i=2A
small in the low speed region, uth=0 is adopted to avoid large
Electrical Angle (deg)

10
Compensated angle phase delay. From (26) and (27), the equation (39) can be
i=1A
0 solved as
Phase after compensation [18R fl kl1 f z  1  k4 ]kc f z  4Rp I r 
ml  ,  fl ( f zm )   , (40)
-10
Delayed angle
(18R fl kh1 f z  1  k4 )kc f z 12
i=1A i=2A (18R fl kl 2 f z  kl 3 )kc f z  4Rp I r 
-20 ml  ,  fl ( f zm )   , (41)
i=3A (18R fl kh3 f z  kl 4 )kc f z 12
2000 4000 6000 8000 10000
Rotor Speed (r/min) from (35), where kl1  1  k1  2k2 , kl 2  2k2  k1  2k3 ,
kl 3  2k1  4k2  2k3  k4 and kl 4  4k1  2k2  k3  k4
Fig. 11. The compensation effect of the proposed method in the medium satisfy and Ir is the average motor operating current in the low
and high speed region. speed region. Then the commutation angle error in the low
speed region can be compensated by carefully selection of the
C. Error Compensation Scheme in the Low Speed Region
LPF parameters and the amplifying ratio ml from equations
In the low speed region, an additional LPF is adopted. The (36), (40) and (41). The compensation results with different
additional LPF circuit is shown in Fig. 10. Combining with operating currents are shown in Fig. 12. The amplifying ratio
(8), the transfer function of the equivalent second-order LPF satisfies ml =1.69, ml =1.82 and ml =1.94 respectively when
is given as the motor operating current is 1A, 2A and 3A. Similarly, from
u ASFL R4 /( R1  R4 ) Fig. 12, the compensation effect in the high speed region with
 , (34)
u A  us1 R f R16C4 s 2  R fl s  1 the selected parameters is imperfect.
where R fl  R f  R16C4 and us1 = (uA + uB + uC)/3 are The switching point speed fz
i=3A i=2A i=1A
satisfied. 20
Electrical Angle (deg)

The delayed angle can be expressed as 10 Compensated angle

2 R fl ft
 fl  -arctan . (35) 0 Phase after compensation
1  R f R16C4 ft 2 i=1A
-10 i=2A
Since the system delay is negligible in the low speed region, i=3A
the delayed angle of the detected commutation instant in the -20
Delayed angle
low speed region can be expressed as -30 i=1A
i=2A i=3A
d ( ft )   fl ( ft )  r ( ft ) . From equations (7) and (35), the 2000 4000 6000 8000 10000
change rate of the delayed angle satisfying d '( ft )  0 is Rotor Speed (r/min)

adopted to calculate the parameters of the LPF. The equation

Fig. 12. The compensation effect of the proposed method in the low speed
can be simplified by neglecting the effect of the quadratic region.
term.  fl  2 R fl ft is achieved. Then the parameters of the
LPF in the low speed region can be calculated by D. Compensation Effect in the Whole Back EMF Based
 Rp I r 2R p I r Sensorless Control Process
 R16C4  2
 Rf , fz 
 6k r f z kr
The cut-off frequency of the LPF in the medium and high
 . (36)
R C  R I 2R p I r speed region is chosen by considering both the commutation
 Rf , fz 
p r
 16 4 6(k k  k ) f 2
 3 c r z kr interval of the motor and the delayed angle caused by the
From Fig. 10, the sum amplifying ratio ml and the filter. If the cut-off frequency is selected too high, the
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DOI 10.1109/TPEL.2015.2413593, IEEE Transactions on Power Electronics

10 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. , NO. , March 2015

commutation ripple of the motor voltage may not be filtered. E. Start-up Technique
Moreover, if the cut-off frequency is too small, the delayed
The design of the start-up process in the sensorless drive
angle caused by the LPF will increase in the high speed
system is necessary [33]–[36]. Normally, the high-speed
region, which may decrease the compensation effect of the
motor in an MSCMG is operating at a constant speed to
proposed method. According to the operating speed region of
supply constant angular momentum for the rotor system. The
the high-speed motor of the MSCMG, Rf = 0.00003 and
rotor is designed to have large inertial mass. However, since
R16C4=0.00007 are selected. The system delay is calculated
the torque constant kτ and the rated current of the motor for
as 10μs. Normally, the operating current of the high-speed
space application are small, the speeding up process of the
motor is smaller than 3A. Im = 3A and Is = Ir = 2A is achieved.
high-speed rotor is much longer than the common system
It should be noted that the back EMF based sensorless control
[33].
is ineffective when the motor speed is zero or very low. When
The high-speed motor of the MSCMG is driven from the
the motor speed is higher than 800 r/min, the ZCPs detection
still by the traditional starting method “align and go” [34].
of the relevant voltages can be achieved reliably for the
The open-loop subsection approximation linearized V/f
high-speed motor of the MSCMG. In practice, the speed
starting method [33] is adopted to insure a reliable start-up
region of the proposed sensorless control process is chosen to
process. The whole start-up process contains three steps. The
be from 1000r/min to 10000r/min. The delayed and
first step is aligning the rotor to a known position by exciting
compensated angles adopting the proposed compensation
the certain two phases for a preset time. Then the open-loop
scheme with the operating current of 1A, 2A and 3A are
accelerating scheme is applied to start the rotor from
shown in Fig. 13.
standstill. When the stable commutation instant detection is
The switching point speed fz
available, the motor will switch to sensorless control mode by
20 i=1A the proposed ZCPs detection of line-to-line voltages. In
i=3A i=2A
Electrical Angle (deg)

practice, the start-up scheme can rotate the high-speed motor

10 Compensated angle
of the MSCMG from standstill to 1000 r/min effectively and
i=1A i=2A i=3A
0 reliably.
Phase after compensation
-10 Delayed angle
i=1A
-20 i=2A
i=3A
2000 4000 6000 8000 10000
Rotor Speed (r/min)
Fig. 13. The delayed angle and compensated angle with different operating
currents (Rf=0.00003, R16C4=0.00007, q=0.26) using virtual neutral point
voltage with ml=1.82 in low speed region and mh=2.28, uth1=3.1 in medium
and high speed region.

It should be noted that the abnormal conduction of the

freewheeling diode in the unexcited phase can be eliminated
when the phase delay caused by voltage drop on stator
Fig. 14. The photograph of the prototype.
resistance, hysteresis comparator, LPF and system delay is
compensated. Thus, the phase delay caused by the abnormal
conduction of the freewheeling diode in the unexcited phase V. SIMULATED AND EXPERIMENTAL RESULTS
is not taken into account in the design of the proposed
compensation scheme. Sufficient experiments have been performed on the setup
In the proposed error compensation method, rotor speed shown in Fig. 14. The ratings of the BLDC motor under study
information is required to determine the commutation are listed in Table I and Table III. A BLDC motor system with
compensation scheme in different speed regions. The rotor a buck converter is established to run the simulation in
speed can be derived from the compensated sensorless MATLAB/Simulink. In the proposed error compensation
detection signals which can replace the Hall position signals method, the calculated speed of the two-stage switching point
without speed sensors in the speed region of the proposed is 4000r/min. The parameters of the proposed compensation
back EMF based sensorless control process. method are chosen as ml=1.82 in low speed region and
mh=2.28, uth1=3.1 in medium and high speed region.

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information:
DOI 10.1109/TPEL.2015.2413593, IEEE Transactions on Power Electronics

LI et al.: POSITION SENSORLESS CONTROL WITHOUT PHASE SHIFTER FOR HIGH-SPEED BLDC MOTORS WITH LOW INDUCTANCE AND NONIDEAL BACK EMF
11

Hall position sensors and traditional line voltage sensorless

iB (A) H1 & S1 (V) uABF (V) uASF&uBSF (V)

1 uASF uBSF 2
detection method respectively. S1L and S1H denote the signals

uABF1 (V)
0
0
-1 of the proposed line voltage sensorless detection method in
1 -2 the low speed region and the medium and high speed region
0 2

H1 & S1L (V)

S1L H1 respectively. It can be learnt from the simulated results that
-1 1
2 H S 0 the ZCPs of the transformative line-to-line voltages uABFL and
1 1
1
0 -1 uABFH using to detect the commutation instants in the
11 electrical degrees
-1 2 proposed sensorless control method are advanced to the
2 iB (A)
0 0 ZCPs of the filtered line-to-line voltage uABF. In Fig. 15, the
-2 -2 effect of the compensation commutation angle on motor
0 0.01 0.02 0 0.01 0.02 current is inconspicuous since the motor back EMF voltage is
Time (s) Time (s)
(a) (b) small in the low speed region. The commutation angle error is
Fig. 15. The simulated voltage and current waves at the speed of decreased by the proposed method to insure a reliable
1000 r/min. (a) With the traditional line voltage ZCPs detection sensorless commutation. However, in the medium and high
method. (b) With the proposed compensation method.
speed region, the effect of the delayed commutation angle on
iB (A) H1 & S1 (V) uABF (V) uASF&uBSF (V)

2 uBSF motor operating performance is obvious in Fig. 16 (a) and Fig.

5 uth
uABF1 (V)

0 0 17 (a). The compensation effect of the proposed sensorless

-2 uASF -uth
-5 method is shown in Fig. 16 (b) and Fig. 17 (b).
5 iB (A) H1 & S1 (V) uABF (V) uASF&uBSF (V)
0 2
H1 & S1H (V)

H1 S1H 1 uASF uBSF 2

-5 1

uABF1 (V)
2 H S 0 0
1 1 0
1 -1
0 -1 1 -2
10 electrical degrees
-1 2 0 2

H1 & S1L (V)

S1L H1
iB (A)

2 -1 1
0 0
2 H1 S1 0
-2 -2 1
0 0.002 0.004 0 0.002 0.004 0 -1
Time (s) Time (s) 11 electrical degrees
-1 2
(a) (b) 2 iB (A)
0 0
Fig. 16. The simulated voltage and current waves at the speed of -2
-2
5000 r/min. (a) With the traditional line voltage ZCPs detection
method. (b) With the proposed compensation method. 0 0.01 0.02 0 0.01 0.02
Time (s) Time (s)
iB (A) H1 & S1 (V) uABF (V) uASF&uBSF (V)

(a) (b)
5 uBSF 10
uth
uABF1 (V)

0 Fig. 18. The experimental voltage and current waves at the speed of 1000
uASF 0 r/min. (a) With the traditional line voltage ZCPs detection method. (b) With
-5 -uth
-10 the proposed compensation method.
10
iB (A) H1 & S1 (V) uABF (V) uASF&uBSF (V)

0 2
H1 & S1H (V)

H1 S1H 2 uBSF
-10 5 uth
uABF1 (V)

1 0
2 H 1 S1 0
0 -2 uASF -uth
1 -5
-1 5
0
18 electrical degrees 0 2
H1 & S1H (V)

-1 2 H1 S1H
10 1
iB (A)

-5
0 2
0 H1 S1 0
-2 1
-10 0 -1
0 0.001 0.002 0 0.001 0.002 12 electrical degrees
Time (s) Time (s) -1 2
iB (A)

(a) (b) 2
0 0
Fig. 17. The simulated voltage and current waves at the speed of -2 -2
10000 r/min. (a) With the traditional line voltage ZCPs detection 0 0.002 0.004 0 0.002 0.004
method. (b) With the proposed compensation method. Time (s) Time (s)
(a) (b)
Fig. 15–Fig. 17 show the simulated results of the line
voltages and motor current waves with the traditional ZCPs Fig. 19. The experimental voltage and current waves at the speed of
5000 r/min. (a) With the traditional line voltage ZCPs detection
detection of line-to-line voltage method and the proposed method. (b) With the proposed compensation method.
compensation method at the speed of 1000 r/min, 5000 r/min In the testing, a floating-point TMS320C6701 DSP and an
and 10000 r/min, respectively. The operating current of the Actel A3P125-2PQ208I field-programmable gate array
motor is 1.5A. H1 and S1 denote the signals of the reference (FPGA) were used to build a motor controller with the
0885-8993 (c) 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information:
DOI 10.1109/TPEL.2015.2413593, IEEE Transactions on Power Electronics

12 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. , NO. , March 2015

proposed method. A vacuum pump is used to supply vacuum method can achieve reliable commutation in the operating
condition in the gyro room. Fig. 18–Fig. 20 show the speed region of the back EMF based sensorless control
experimental results of the sensorless control scheme based process. Also, high accurate commutation is achieved to
on ZCPs detection of line-to-line voltage with and without the decrease the motor steady-state power loss for the high-speed
proposed error compensation method at the speed of motor of the MSCMG in the high speed region. Simulation
1000r/min, 5000r/min and 10000r/min, respectively. The and experimental results show the validity and effectiveness
operating current of the motor is 1.5A, which is as same as the of the proposed method.
operating current in the simulated results. It can be learnt that
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