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Closed Loop Speed Control of Phase Advanced BLDC Motor

Article · September 2015

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 ISSN 2319-8885
Vol.04,Issue.37,
September-2015,
Pages:8140-8145
www.ijsetr.com

Closed Loop Speed Control of Phase Advanced BLDC Motor

A. S. R. S. KUMAR1, G. BALAJI2
1
PG Scholar, Dept of EEE, Gudlavalleru Engineering College, Gudlavalleru, Krishna (Dt), AP, India.
2
Assistant Professor, Dept of EEE, Gudlavalleru Engineering College, Gudlavalleru, Krishna (Dt), AP, India.

Abstract: This paper describes a simpler way to control the speed of phase advance approach employed PMBLDC motor using
PID controller. In order to extend the speed of BLDCMs, it is necessary to control phase currents to lead the phase back EMF by
a phase advance method. Many phase advance methods have been proposed for the speed expansion of the BLDCM during the
last 20 years. The conventional system increases the torque ripple even if it widens the range of speed for the BLDCM. A key of
this method is to broaden conduction area of phase currents by using an advance angle. As compared with the conventional
method, the proposed method takes definite advantages. It can obtain wider range speed control of the motor. The speed of the
PMBLDC motor is regulated by PID controller. The performance of the PMBLDC system is simulated. This drive has high
accuracy, robust operation from near zero to high speed.

Keywords: Permanent Magnet Brushless DC Motor, Phase Advancement, PID Controller.

I. INTRODUCTION in case of BLDC motors the commutation is done by

Latest advancements in permanent magnet materials, electronic switches which need the rotor position. The
solid state devices and microelectronic have resulted in new appropriate stator windings have to be energized when rotor
energy efficient drives using permanent magnet brushless DC poles align with the stator winding. The BLDC motor can
motors (PMBLDCM). Brushless DC motors are very popular also be driven with predefined commutation interval. But to
in a wide array of applications in industries such as achieve precise speed control and maximum generated
appliances, automotive, aerospace, consumer, medical, torque, brushless commutation should be done with the
industrial automation for its reliability, high efficiency, high knowledge of rotor position. In control methods using
power density, low maintenance requirements, lower weight sensors, mechanical position sensors, such as a hall sensor,
and low cost. As the name implies, BLDC motor do not have shaft encoder or resolver have been utilized in order to
brushes for commutation. Instead they are electronically provide rotor position information. Hall Position sensors or
commutated. BLDC motor have many advantages over simply hall sensors are widely used and are popular. Three
brushed DC motor and induction motors, like better speed- phase windings use one Hall Sensors each. They provide
torque characteristics, high dynamic response, high three overlapping signals giving a 60° wide position range.
efficiency, noiseless operation and wide speed ranges. Whenever the magnetic poles pass near the sensors, they
Torque to weight ratio is higher enabling it to be used in either give a high or low signal, indicating North or South
applications where space and weight are critical factor. A Pole is passing the pole. The accurate rotor position
BLDC motor finds numerous applications in motion control. information is used to generate precise firing commands for
A BLDC motor has windings on stator and alternate power converter. This ensures drive stability and fast
permanent magnets on rotor. Electronic commutation of dynamic response.
stator windings is based on rotor position with respect to the
stator winding. A new generation of microcontrollers and The speed feedback is derived from the position sensor
advanced electronics has overcome the challenge of output signals. Between the two commutation signals the
implementing required control functions, making the BLDC angle variation is constant as the Hall Effect Sensors are
motor more practical for a wide range of applications. In this fixed relative to the motor, thus reducing speed sensing to a
method the speed is controlled in a closed loop by measuring simple division. Usually speed and position of a permanent
the actual speed of the motor. magnet brushless direct current motor rotor is controlled in a
conventional cascade structure. The inner current control
The error in the set speed and actual speed is calculated. A loops runs at a larger width than the outer speed loop to
proportional plus integral (PI) controller is used to amplify achieve an effective cascade control [7]. Various sensor less
the speed error. In case of common DC motors, the brushes methods for BLDC motors are analyzed in [8-18].Modelling
automatically come into contact with the commutator of a of BLDC is given in [3][8] proposes a speed control of
different coil causing the motor to continue its rotation. But brushless drive employing PWM technique using digital

Copyright @ 2015 IJSETR. All rights reserved.

 A. S. R. S. KUMAR, G. BALAJI
signal processor. A PSO based optimization of PID controller Constant-power operation [3]. The T min is no-load torque
for a linear BLDC motor is given in [9-10], Speed Control of including a friction torque, cogging torque and etc. The T min
BLDC based on CMAC & PID controller is explained in can be changed by the condition of BLDCMs [3]. However,
[11]. Direct torque control and indirect flux control of BLDC in the real case, the torque-speed curve is smaller than the
motor with non-sinusoidal back emf method controls the ideal torque-speed due to the increases of the reactance of the
torque directly and stator flux amplitude indirectly using d- BLDCM. As shown in Fig. 1(b), the reactance of the phase
axis current to achieve a low-frequency torque ripple-free winding is proportional to operation frequency and affects
control with maximum efficiency[12-13]. Direct back EMF the delay of phase current, and commutation region are
detection method for sensor less control is given in [14]. [15] generated. Therefore, the performance of the BLDCM is
Proposes a novel architecture using a FPGA-based system. degraded such as the torque ripple and the speed range of the
Fixed gain PI speed controller has the limitations of being BLDCM [4]. The proposed method can achieve higher torque
suitable for a limited operating range around the operating and lower torque ripple compared with the conventional
point and having overshoot. To eliminate this problem a phase advance control method by extending the conduction
fuzzy based gain scheduled PI speed controller is proposed in area using the advance angle under the limited voltage
[16]. source.
II. PHASE ADVANCED METHOD
A new module structure of PLL speed controller is In the high speed region, reactance of the windings is high
proposed by [17].A fixed structure controller (PI or PID) because the operation frequency of the BLDCM increases.
using time constrained output feedback is given in [18]. The Moreover, the available voltage which is difference between
above literature does not deal with reduction of speed the back-EMF and input-voltage is reduced due to the
oscillations in PMBLDC drive. This paper deals with control increase of back-EMF of the BLDCM. These cause decrease
method to reduce speed oscillations. To control a system, by of the average-torque of BLDCM owing to the delay of the
any of these methods an accurate mathematical model of the phase currents. The phase advance method is needed to
complete system is required. The Fig. 1(a) and (b) show the resolve these problems.
torque-speed curve and a phase current and a back-EMF of
the BLDCM in the ideal and real case, respectively. In the A. Conventional Phase Advance Method of BLDCM
low speed region below the base speed of the ideal case, the The equivalent circuit of BLDCM with the PWM inverter
drive system can provide a constant output torque called is modeled as shown in Fig. 2. The PWM inverter consists of
constant-torque operation as shown in Fig. 1(a). At the rated six switches and voltage source (Vdc). The BLDCM can be
power point A or B of the base speed in Fig. 1(a), the represented as the phase resistances, phase inductances and
switches of the inverter are turned on during 120 electrical back-EMF as shown in Fig. 2. The ON and OFF of the six
degrees every half cycle. In high speed region above the base switches are controlled according to the rotor-position sensor
speed, the electric torque decreases until the T min as shown in of the BLDCM. The operating speed limit of the BLDCM
Fig. 1(a). This region is called the can be expanded by using the phase advance method. Fig. 3
shows a phase current and a back-EMF when applying the
conventional phase advance method. The phase current is
shifted by θ which is called “advance angle” to back EMF.
The advance angle varies from 0° to 60° or more. The rotor-
speed increases according to the advance angle because the
available voltage

(a) Torque-speed curves in ideal and real cases

Fig. 2. PWM inverter and equivalent circuit of BLDCM.

(b) An ideal back-EMF and an ideal and a real current

Fig. 1. The torque-speed curves and a phase current and Fig. 3. The current and the back EMF of the BLDCM by
backEMF in ideal and real cases. the conventional phase advance method.
International Journal of Scientific Engineering and Technology Research
Volume.04, IssueNo.37, September-2015, Pages: 8140--8145
 Closed Loop Speed Control of Phase Advanced BLDC Motor
(I~VIII) by the states of the switches as shown in the Fig. 5
and 6. These regions are divided by two cases. One is the 3-
phase conduction regions which are all of the regions except
for III and VI in Fig. 6. The other is the 2-phase conduction
regions. It is III and VI. The ωt0, ωt1, ωt2of Fig. 6 are the
end times of the 3-phase conduction regions, respectively. In
the 3-phase conduction region, the available voltage becomes
either Vdc/3 or 2Vdc/3. However, in the 2-phase conduction
region, the available voltage becomes Vdc/2 + ec in III or
Vdc/2 + ebin VI, respectively. Therefore, the utilization of the
voltage-source increases more than the conventional phase
advance method due to the expansion of the conduction area.
The phase currents of the BLDCM can be obtained by
solving the voltage equations so that average-torque can be
Fig. 4. The torque-speed curves and a phase current and calculated. The voltage equations are decided by the current
back EMF in ideal and real cases. paths. The voltage equation of the BLDCM are given as
follows
is proportional to the advance angle. Thus, rated power (C)
and base speed are bigger without the any phase advance
methods as shown in Fig. 4. In conventional method, current
is always conducted during 120°. That means the utilization
of voltage is almost Vdc/2 except the commutation region.
(1)
B. Existing phase advance method of BLDCM Where Va,Vb ,Vc is the pole input voltage which is normally
Fig. 4 shows a concept of the proposed phase advance Vdc/2 or -Vdc/2 in high speed region, R is the phase
method. The key is that the total conduction area is wider as resistance, L is the phase inductance ea ,eb ,ec are each phase
the advance angle (θ+ 120°) unlike the conventional phase back EMFs, ia ,ib ,ic are each phase currents and n V is the
advance method. This method has several advantages. One is voltage between the neutral point of Y-connection and the
the average torque is higher than the conventional method zero voltage of dc-link. Sum of the phase currents is zero due
under the same phase peak current. That is why the using to the Y-connection. The neutral voltage equation can be
area of the back-EMF is expanded as shown in Fig. 5. In represented as (2)
addition, the torque ripple is smaller than the conventional
method since the available voltage,(Vdc/3 - e) is smaller than (2)
the conventional voltage,(Vdc/2 – e) when the phase current If (1) and (2) are applied to proposed phase advance
start to rising. Also, the utilization of the voltage is increased method, the equations can be represented each region of the
to 2Vdc/3. It is larger than the conventional method. Fig. 6. In I and II, two phase currents are positive direction
Therefore, under the same condition of the source voltage, ()0i ,i ca> and the other one is negative direction()0ib < . The
the torque-speed curve is larger than the conventional phase neutral voltage can be represented as (3) (4)positive are
advance method as shown in Fig. 4. voltages pole 2

III. MATHEMATICAL DERIVATION OF THE (3)

EXISTING PHASE ADVANCE METHOD
Fig. 5 is a simulation result which shows the 3 phase Therefore, the voltage equations of 3-phase conduction
currents, a back EMF and a phase voltage (Van) of A-phase region (I, II) can be rewritten as (4) [11, 12].
when the proposed phase advance method is applied. The
half cycle of the waveforms can be divided to eight regions

(4)

As shown in Fig. 6, assuming the back-EMF is an ideal

trapezoidal shape, it can be represented as (5) within I.

(5)

from period 1

If (5) is applied to (4) to show the delay of the current ai

Fig. 5. The 3 phase currents and back EMF of the
, it can be represented as follows.
BLDCM by the existing phase advance control method.
International Journal of Scientific Engineering and Technology Research
Volume.04, IssueNo.37, September-2015, Pages: 8140-8145
 A. S. R. S. KUMAR, G. BALAJI
The mathematical derivations are totally shown as
(6) following Table.1. These equations can be used to obtain the
average torque of proposed phase advanced method. The
Where, the initial value is zero. average torque of conventional phase current method can be
obtained from[11]

TABLE I: Mathematical Derivations of Conduction

Region

Fig.6. The 3 phase currents and back EMF of the

BLDCM by the proposed advance control method.

Solving (6) about the current, the solution is given by (7).

(7)

IV. SIMULATION RESULTS

Here simulation is carried out in several cases, in that 1.
Conventional Phase Advancement for BLDC drive System,
After time t0, the time of 3-phase conduction region is 2. Existing Phase Advancement for BLDC Drive, 3. Closed
determined by the decaying current ic. And 3-phase Loop Control employed for the Existing Phase Advancement
conduction region shift to 2-phase conduction region. The System and results is shown in Figs.7 to 13.
current value of the changing point is
Case 1: Conventional Phase Advancement for BLDC
(8) drive System

In III, the voltage equation of 2-phase conduction region

is given in

(9)
Solving ia at (9), the reactance equation is given like(10)

(10)

Due to , (7) and (10) can be converted into (11) and

(12)

(11)
Fig.7. MATLAB/SIMULINK Model of Conventional
(12) Phase Advancement for BLDC drive System.
International Journal of Scientific Engineering and Technology Research
Volume.04, IssueNo.37, September-2015, Pages: 8140--8145
 Closed Loop Speed Control of Phase Advanced BLDC Motor
Case 2: Existing Phase Advancement for BLDC Drive

Fig. 10. MATLAB/SIMULINK Model of Converter

Topology of Existing Phase Advancement for BLDC
Fig. 8 MATLAB/SIMULINK Model of Converter Drive.
topology of Conventional Phase Advancement System.

(a) Torque and Speed (a) Torque and Speed

(b) Stator Currents and Back EMF (b) Phase Currents and Back EMFs
Fig.9. Speed, Back EMF, Stator Current, Electromagnetic Fig.11. Speed, Back EMF, Stator Current,
Torque of BLDC drive System under Conventional Phase Electromagnetic Torque of BLDC drive System under
Advancement Method. Proposed Phase Advancement Method.
International Journal of Scientific Engineering and Technology Research
Volume.04, IssueNo.37, September-2015, Pages: 8140-8145
 A. S. R. S. KUMAR, G. BALAJI
Case 3: Closed Loop Control Employed for the Existing V. CONCLUSION
Phase Advancement System. This paper proposes a closed loop PID Control of phase
advanced BLDC motor. This method achieved not only speed
control of the motor but also lower torque ripple compared
with the existing open loop phase advance method. The
usefulness of the proposed method was verified through the
computer simulations.

VI. REFERENCES
[1]Jong-Joo Moon, Won-Sang Im, Jang-Mok Kim “Novel
Phase Advance Method of BLDC motors for wide range
speed operations”, 2013 IEEE.
[2]J. R. Hendershot and T. J. E. Miller "Design of Brushless
PermanentMagnet Motor", Oxford. Oxford Science, 1994.
[3]P. Pillay and R. Krishnan, “Application characteristics of
permanent magnet synchronous and Brushless DC motors for
servo drives,” IEEE.
[4]C. C. Chan, J. Z. Jiang, W. Xia, K. T. Chau, "Novel wide
range speed control of permanent magnet brushless motor
drives," IEEE Transactions of Power Electronics, vol. 10, no.
Fig.12. MATLAB/SIMULINK Model of Proposed Closed 5, pp. 539-546, 1995.
Loop System. [5]H. C. Kim, H. S. Oh, J. M. Kim, C. U. Kim, “A study on
the phase advance angle of high speed operation for 7 phase
BLDC motor drives,” KIEE, vol. 56, no. 11, pp.1930-1936,
Nov. 2007.
[6]Binh Minh Nguyen, Ta. M. C, "Phase Advance Approach
to Expand the speed Range of Brushless DC Motor,” PEDS
7th International Conference, pp. 1255-1262, 2007.
[7]Han Kong, Jinglin Liu, Guangzhao Cui, “Study on Field-
Weakening Theory of Brushless DC Motor Based on Phase
Advance Method,” vol.3, pp. 583-586, March. 2010.
[8]S. I. Park, T. S. Kim, S. C. Ahn, D. S. Hyun, “An
improved current control method for torque improvement of
high-speed BLDC motor,” APEC 2003, vol.1, pp.294-299.
[9]B. H. Kang, C. J. Kim, H. S. Mok, and G. H. Choe,
“Analysis of torque ripple in BLDC motor with commutation
time,” in IEEE Industrial Electronic Conf., Jun. 2001, vol. 2,
pp. 1044–1048.
(a) Torque and Speed [10]H. Zeroug, B. Boukais, and H. Sahraoui, “Analysis of
torque ripple in a BDCM,” IEEE Trans. Magnetics., vol. 38,
no. 1, pp. 1293–1296, Mar.2002
[11]C. L. Chiu, Y. T. Chen, Y. H. Shen, R. H. Liang, “An
Accurate Automatic Phase Advance Adjustment of Brushless
DC Motor,” IEEE Transactions of Magnetics, vol. 45, no. 1,
pp. 120-126, Jan. 2009.

(b) Stator Currents and Back EMF

Fig.13. Speed, Back EMF, Stator Current, Electro-
magnetic Torque of BLDC drive System under Proposed
Phase Advancement Method with closed loop system.

International Journal of Scientific Engineering and Technology Research

Volume.04, IssueNo.37, September-2015, Pages: 8140--8145
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