International Journal of Engineering Research & Technology (IJERT)

ISSN: 2278-0181
Vol. 3 Issue 5, May - 2014

Performance Analysis of BLDC Motor for

Sinusoidal and Trapezoidal Back-Emf using
MATLAB/SIMULINK Environment
Pramod Pal T M Shubhum
Department of Electrical Engineering Department of Electrical Engineering
Maulana AzadNational Institute of Technology Maulana Azad National Institute of Technology
Bhopal, India Bhopal,India

Abstract: The Brushless DC Motor find variety of applications in trapezoidal back-Emf waveforms.
domestic and industrial applications. BLDC Motor has some
important characteristics like low and high power density and ease of
speed control. This paper presents a three phase inverter fed Brushless
DC motor. The process considering the development of BLDC Motor
Model in MATLAB/SIMULINK environment with sinusoidal and
SPEED CURRENT POWER BLDC
trapezoidal back-Emf waveform and also includes a comparison study Wref
for the harmonic analysis for sinusoidal and trapezoidal back-Emf
CONTROL CONTROL INVERTER MOTOR
models.

Key Words: BLDC Motor, Simulink Model, back-Emf

Vdc Tload
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I.INTRODUCTION

Brushless DC Motor has the characteristics of DC motor but

Fig.1 BLOCK DIAGRAM OF BLDC MOTOR CONTROL SYSTEM
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eliminates the need of commutator and brushes this reduces

the losses in the machine and also improve the efficiency Fig.1 shows block diagram of BLDC motor control system.
but increases the cost. Therefore BLDC Motor replaces the Here hysteresis or PWM control is to be used for
conventional DC Machine in high efficiency applications. maintaining the actual current flowing into the motor as
The main reason for motor speed control is to account a close as possible to the rectangular reference values [3]. The
signal for demanded speed and to drive the motor for that major disadvantage of BLDC Motor is its higher cost and
speed [1]. BLDC Motor uses DC voltage sources but the high degree of complexity introduced by the six step
commutation is done electronically. BLDC Motor comes in inverter [4], [5].
variety of power ratings from low range to high range. It has
some advantages over conventional DC motors like II MATHEMATICAL MODELLING
noiseless operations, higher efficiency, better speed and
torque characteristics and longer life [2]. The selection of Modeling of BLDC Motor can be done by considering it as
right BLDC motor for various applications is very a conventional three phase synchronous motor. It has three
important. The back-Emf is the most important factor which phase stator and permanent magnet rotor. The current
affects the torque produced in the BLDC Motor. Normally induced in the rotor can be minimized by the high resistivity
BLDC motor has trapezoidal back-Emf with rectangular of both the magnet and stainless steel laminations. The
waveform of stator current. It causes constant value torque BLDC Motor can be modeled in both d-q axis model and
but practically torque ripple exists due to current ripple, also abc phase model analysis. The important equations in
phase current commutations and non uniform back-Emf modeling of BLDC Motor are as follows:
waveforms therefore always a difference exists between d
actual value and simulation results. The paper attempts to Vab = R ia − ib + L ia − ib + ea − eb [1]
dt
compare BLDC Motor performance for both sinusoidal and
d
Vbc = R ib − ic + L ib − ic + eb − ec [2]
dt

d
Vca = R ic − ia + L ic − ia + ec − ea [3]
dt

IJERTV3IS050811 www.ijert.org 541

 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
Vol. 3 Issue 5, May - 2014

Where:
θ = Wm
R= Per Phase Stator Resistance
L=Per Phase Stator Inductance Where:
ia,ib,ic=Instantaneous Stator Phase current
J=Moment of Inertia in Kg/m2
Vab,Vbc,Vca= Instantaneous Stator Line voltages
eab,ebc,eca =Instantaneous phase back-Emf Kf=friction constant in NM/Rad/Sec.
The Phase currents can also be written as: TL=Load Torque in NM
ia + ib + ic = 0
III. SIMULINK MODEL
Thus the equation can be written as:

ic = −(ia + ib)

Thus the line voltage given by equations [1] and [2] can be
written as:
d
Vab = R ia − ib + L ia − ib + ea − eb [4]
dt

d
Vbc = R ia + 2ib + L ia + 2ib + eb − ec [5]
dt

The flux of the permanent magnet rotor and speed of the

rotor will influence the back-Emf as explained as follows:
Ke ωm
ea = F(θe) [5]
2
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Ke ωm 2Π
eb = F[θe − ] [6]
2 3

Ke ωm 4Π
ec = F[θe − ] [7]
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2 3
Fig.2 SIMULINK MODEL FOR PWM CONTROL OF
BLDC MOTOR
Thus the electromagnetic torque is given by:
The simulink model of BLDC Motor is as shown in the
Ke Ke 2Π Ke 4Π figure. In BLDC Motor the commutation is done
Te = F θe ia + F θe − ib + F θe − ic electronically and the stator winding will be energized in a
2 2 3 2 3
[8] sequence and this makes rotor position information critical
for successful commutation. The stator winding will be
Where energized in proper sequence according to the information
P
provided from the rotor sensors embedded into the stator.
θe = θm Electrical Angle ,degree Normally Hall Effect sensors are used for sensing the
2
Wm=Rotor Speed in Rad/Sec. position of rotor. In the presented model three hall sensors
Ke=back-Emf constane in volt/rad./sec. are used and this is the main disadvantage of the present
model the sensors can also be minimized by using a
different technique for PWM control of BLDC Motor [6]. If
The dynamics of the motor and load as follows:
North Pole is passes through the hall sensor it will give
d active high signal and if South Pole passes through hall
To = KfWm + J Wm + TL [9] sensor it will give active low and thus this sequence will
dt
give commutation logic. PWM generation block will uses
d
To − TL = KfWm + J Wm [10] following equations for signal generation
dt
Vd Vd
J
d
Wm = To − TL − KfWm [11] Va = T1 − (T4) [13]
2 2
dt
Vd Vd
Kf 1 Vb = T3 − (T6) [14]
Wm = − Wm + (To − TL) [12] 2 2
J J
Vd Vd
Vc = T5 − T2 [15]
2 2

Thus as explained by the above equations for every 60ᶿ

electrical rotations the hall sensor will change its state and

IJERTV3IS050811 www.ijert.org 542

 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
Vol. 3 Issue 5, May - 2014

six steps will be taken to complete one electrical degree of

rotation. It is not necessary that one electrical degree of
rotation is equal to one mechanical degree of rotation.

The electrical and mechanical degree of rotation will be

related as follows:
P
θe = θm [16]
2
Where:
θe=Angle of rotation in electrical degree
θm=Angle of rotation in mechanical degree
IV. SIMULATION RESULTS Fig.4 Back Emf
TABLE 1 BLDC MOTOR SPECIFICATION

PARAMETER VALUE UNIT

Vd 126.966V Volts
Stator Phase 4.8750 Ω
Resistance R
Stator Phase 6.5e-3 H
Inductance L
No. of Poles 4
Inertia 15.17×10-6 Kgm2
3
Kw 56.23×10- VradS-1
SIMULATION RESULT FOR SINUSOIDAL Fig. 4 Torque
WAVEFORM:
FFT ANALYSIS FOR SINUSOIDAL WAVEFORM
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Fig.3 Speed

Fig.5 FFT Analysis for Speed

Current

Fig.6 FFT Analysis for Back-Emf

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 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
Vol. 3 Issue 5, May - 2014

Fig.7 FFT Analysis for Current Fig. 11Current

Fig. 12 Torque
Fig.8 FFT Analysis for Torque
FFT ANALYSIS FOR TRAPEZOIDAL WAVEFORM
SIMULATION RESULT FOR TRAPEZOIDAL
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WAVEFORM:
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Fig.9 Speed
Fig. 13 FFT Analysis for Speed

Fig.10Back-Emf
Fig.14 FFT Analysis for back-Emf

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 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
Vol. 3 Issue 5, May - 2014

Comparison of Sinusoidal and Trapezoidal waveform for

stator current

Type of Current
waveform Ripple Peak Value THD
Ia Ib Ic
Sinusoidal 0 7.6 7.6 7.5 46.34
Trapezoidal 0 7.4 7.4 7.5 50.71

\Comparison of Sinusoidal and Trapezoidal waveform for

Back-Emf
Fig.15FFT Analysis for Current
Type of Back-Emf
waveform Ripple Peak Value THD
Ea Eb Ec
Sinusoidal 0 55.8 55.8 55.8 22.57
Trapezoidal 0 47.5 47.5 47.5 36.48

IV. REFERENCE
[1]“Application characteristics of permanent magnet synchronous and
brushless dc motors for servo drives,” presented at the IEEE IAS
Annual Meeting, Atlanta, 1987.
Fig. 16 FFT Analysis for Torque [2]M. Lajoie-Mazenc, C. Villanueva, and J. Hector, “Study and
implementation of a hysteresis controlled inverter on a permanent.
[3] T. M. Jahns, “Torque production in permanent magnet synchronous
Comparison of Sinusoidal and Trapezoidal waveform for motor drives with rectangular current excitation,” IEEE Trans. Ind.
speed and torque
RT
Appl., vol. IA-20, no. 4, pp. 803-813, July/Aug. 1984.
[4] A. A. Aboulnaga, P. C. Desai, F. Rodriguez, T. R. Cooke, and A.
Type of Speed Torque Emadi, “A novel low-cost high-performance single-phase adjustable-
waveform Rippl Peak TH Rippl PEAK TH speed motor drive using PM brushless DC machines: IIT’s design for
2003 future energy challenge,” in Proc. 19th Annu. IEEE Applied
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e valu D e VALU D Power Electron. Conf., Anaheim, CA, Feb. 2004, pp. 1595–1603.
e E [5] C. W. Lu, “Torque controller for brushless DC motors,” IEEE Trans.
Sinusoidal 0.2 93.5 52.2 0 13.6 22.2 Ind. Electron., vol. 46, no. 2, pp. 471–473, Apr. 1999.
[6] S. Anand, M. Nikola, J.Young and K. Mahesh “An FPGA Based
5 Novel Digital PWM Control Scheme for BLDC Motor Drives” IEEE
Trapezoid 0.05 92.5 60.5 0 12.8 29.4 Trans. On Ind. Electron., Vol. 56, No.8, Aug. 2009.
al 0

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