International Journal of Applied Engineering Research ISSN 0973-4562 Volume 13, Number 1 (2018) pp.

582-589
© Research India Publications. http://www.ripublication.com

Design New control System for Brushless DC motor Using SVPWM

Farazdaq Rafeeq Yasien1 and Roaa Abbas mahmood1,2

1
Department of Control and Systems Engineering, University of Technology, Baghdad, Iraq.

2
Department of Renewable Energies, Ministry of Science and Technology, Baghdad, Iraq.

Abstract the motor or magnets on the rotor, but there are several
The conventional control system in a Brushless DC (BLDC) drawbacks when such types of position sensors are used. The
motor uses the Hall sensors for determining the position of the main drawbacks are the increased cost, size of the motor, and a
rotor that is needed for calculation of the back EMFs to special arrangement needs to be made for mounting the
generate the pulse width modulation (PWM) for three-phase sensors. Further, Hall sensors are temperature sensitive and
inverter. However, these position sensors increase cost, size, hence the operation of the motor is limited, which could reduce
noise signals and complexity in the control system. Therefore, the system reliability because of the extra components and
this paper presents a new control system of the BLDC motor wiring [2].
proposed through the elimination of the Hall sensors feedback Pulse width modulation (PWM) switching techniques are main
signals and it depends on the motor speed feedback signal only. part in the control system on the brushless DC motor drive. It's
A new control system used the space vector modulation adjusted the three-phase bridge inverter to generate three-phase
(SVPWM) technique to generate the PWM switching to three- voltages controlling the BLDC motor. Many PWM switching
phase inverter derive. PI controller has been used for the speed techniques, , including the sinusoidal PWM (SPWM), carrier
control of BLDC motor. Results obtained from comparison based PWM, selective harmonic elimination PWM, etc. are
between the new control system (NCS) and conventional used for inverter controllers [3]. Space vector PWM (SVPWM)
control system (CCS) of BLDC motor. The simulation tests for is one of the best methods because of its capability to minimize
BLDC motor in a MATLAB/Simulink environment show that harmonic distortion. This approach is improved to achieve a
the NCS of BLDC motor is better than the CCS in tested in high output voltage, minimize the harmonic output, and reduce
terms of transient response under different mechanical loads the switching losses relative to other PWM techniques [4].
and speeds.
In the present study new control system of BLDC motor
Keywords: BLDC motor, PWM, SVPWM, three phase proposed through the elimination of the Hall sensors feedback
inverter, and PI controller. signals and it depends on the speed motor feedback signal only.
A new control system used the SVPWM technique to generate
the PWM switching to three-phase inverters derive. PI
INTRODUCTION
controller has been used for the speed control of BLDC motor.
The BLDC motors are rapidly gained popularity and become
widely used in various consumer and industrial systems
because of their better characteristics and performance. BLDC CONTROL SYSTEM OF BLDC MOTOR DRIVE
motor has several advantages over conventional DC motors and
The control system model of BLDC motor drive is designed
some of these are High efficiency, higher dynamic response,
through three main parts, which are BLDC motor, three-phase
Better speed versus torque characteristics, Higher speed ranges,
inverter and control system (PWM technique and speed
Long life operating, less noise operation, Less electromagnetic
controller) [5]. Figure 1 shows the block diagram configuration
interference, Compact size, and better heat dissipation. BLDC
of control system scheme for BLDC motor.
motors are most commonly employed for robotics, computer
peripherals, actuating drives, machine tools, electric propulsion
and also for electrical power generation. With the development
PWM Switching Hall Sensor
of sensorless technology besides digital control, these motors Technique Detection
become so effective in terms of total system cost, size and
reliability [1]. S1 Ha Hb Hc
S3 S5
ωrm*
BLDC motor is type of permanent magnet synchronous motor +
- Speed A Mechanical
B
(PMSM) which is driven by direct current and it accomplishes ωrm Controller
Vdc
C Load
S4 S6 S2
electronically controlled commutation system to produce BLDC Motor Speed
sensor
rotational torque in the motor by changing phase currents Three-Phase Bridge Inverter
ωrm
depending on the rotor position.
Figure 1: Block diagram of control system for BLDC motor
Most BLDC motors have three Hall sensors for rotor position
drive.
sensing where they either embedded into the stationary part of

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© Research India Publications. http://www.ripublication.com

TRADITIONAL CONTROL SYSTEM DESIGN Table 1: Commutation sequence of Hall sensor signal
PROCEDURE
Rotor position Hall sensor AH BH CH AL BL CL
Control system of BLDC motor required into main parts as (Degree) signal
shown in Figure 1. Control system required to four feedback
signals, which are three hall sensor signals and speed motor 0-60 101 1 0 0 0 1 0
signal. 60-120 100 1 0 0 0 0 1
The speed motor signal takes from speed sensor and it subtract 120-180 110 0 1 0 0 0 1
from reference speed signal to generate the speed error signal. 180-240 010 0 1 0 1 0 0
Speed controller is received the error signal to generate the 240-300 011 0 0 1 1 0 0
voltage source controller signal to three phase bridge inverter. 300-360 001 0 0 1 0 1 0
Three-phase bridge inverter consists of six IGBTs switches as
shown in Figure 1. Each switch has a freewheeling diode that
protects the device from reverse voltage when the switch is PI SPEED CONTROLLER
turned off.
The closed loop speed control methods are traditionally
The six switches are divided into two groups; the positive implemented by conventional PI controllers. It is considered
group comprising upper switches S1, S3, and S5 and the the most control technique that is widely used in control
negative group comprising switches S4, S6, and S2. Each phase applications and it provides robust and reliable performance for
has a pair of switches connected in parallel to the DC source. most systems if the coefficients are tuned properly. Figure 3
The controlled power flows to the load when the switches are shows the construction of a PI speed controller that receives an
tuned on and off. This tuning is created through the gates of the error speed signal from the BLDC motor. Thus, this controller
IGBTs, which are received from the PWM switching signals generates an output signal that consists of the sum of errors and
associated with the control system. the integral of that error, as shown in the equation below:
As for the Hall sensors feedback signals are produced the
PWM waveforms through passing the Hall sensor detector and
PWM switching techniques as shown in Figure 1. The Hall
sensors are the most common sensor for predicting the rotor
position of BLDC motor drive. The BLDC voltage vector is where is the error , is the control
divided into six sectors, which is just a one-to-one output signal, is the proportional gain, and is the integral
correspondence with the Hall signal six states, as shown in gain. The performance of the PI speed controller mainly
Figure 2 [6]. depends on the selected suitable PI parameters. Each parameter
plays an important role in controlling the BLDC motor as
shown in the Table 2 [8].

Table 2: Characteristics of PI control parameters

Rise Settling Steady
Type Overshoot
time time state error
Small
Decrease Increase Decrease
change
Decrease Increase Increase Eliminate

Figure 2: Six sectors of the BLDC motor voltage vector

Hall sensor detects rotor position to generate the controls

switching of MOSFETs or IGBTs in three-phase bridge
inverter drive for rotor position. Table (1) shows sequence for
clock wise rotation when seen from shaft end. Hall sensor Figure 3: Construction of PI speed controller
signals are 3-bit digit formed. A, B and C Hall sensors, while
AH, BH, CH are upper switches drive and AL, BL, CL are
lower switches drive. PWM is produced from the commutation NEW CONTROL SYSTEM DESIGN PROCEDURE
sequence of hall sensor signal to control of three-phase inverter In this paper, new control system of BLDC motor proposed
switches drive [7]. through the elimination of the Hall sensors feedback signals

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and it depends on the speed motor feedback signal only as 180

shown in Figure 4. A new control system is based on the space 150
vector PWM technique to generate the PWM switching to
three-phase inverter derives. The space vector PWM technique 100
is received the speed motor signal converting to rotor angle to

Angle (Degree)
50
generate two voltages as shown in Figure 5.
0

50-
Three-Phase Bridge Inverter
S1 S3 S5 100-
PI
ωrm* e
+ Speed A Mechanical -150
- B
ωrm Controller C Load
Vdc -180
S4 S6 S2 0.3 0.32 0.34 0.36 0.38 0.4
BLDC Motor Speed
sensor Time (sec)

Figure 6: Waveform for 5 cycles for angle

SVPWM ωrm
Switching Technique
6

Figure 4: New control system of BLDC motor Number of sector

5

4
1
0.8
3
0.6
0.4
Valph and Vbeta

0.2 2

0
-0.2 1
0.3 0.32 0.34 0.36 0.38 0.4
-0.4 Time (sec)
-0.6
Figure 7: Waveform for 5 cycles for number of sector
-0.8
-1
0.3 0.32 0.34 0.36 0.38 0.4 Six sectors between the vectors is generated the hexagon frame
Time (sec) as shown in Figure 8 [6].
Figure 5: 5 cycles for waveforms

V3 V2
Vβ
Two-phase voltages are used to obtain the
Sector2
magnitude of the reference voltage vector and the Sector1
Sector3
angle between the voltage vectors using the Equation (2) Vref
and (3). Figure 6 shows the angle ( ) for one cycle and also V4  Vα V1
V0 V7
Figure 7 shows the number of sector.
Sector4 Sector6
Sector5

V5 V6

Figure 8: Hexagon diagram

SVPWM SWITCHING TECHNIQUE INVERTER

The SVPWM technique is used to generate the PWM control
signals in the three-phase inverter. This approach is improved

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to achieve a high output voltage, minimize the harmonic Table 3: Switching pattern of voltage space vectors
output, and reduce the switching losses relative to other PWM
techniques. Moreover, the SVPWM technique is an advanced
computation intensive PWM method and is possibly the best
technique for VFD applications. Therefore, the SVPWM
technique is one of the best methods because of its capability to
minimize harmonic distortion.
As shown in Figure 9, the upper IGBTs (S1, S3, and S5 are
equivalent to 1) are switched on, whereas the corresponding
lower IGBTs (S2, S4 and S6 are equivalent to 0) are switched
off. The on and off states of the upper IGBTs (i.e., S1, S3 and
S5) can be used to determine the output voltage. The SVPWM technique receives a three-phase
The relationship between the positive switching variable and voltage separated by 120 degrees between
the line-to-line voltages as well as the line-to- two phases and converts it into two phases with
neutral voltages can be expressed as follows difference angle of 90 degrees using Clark’s transformation
[8]. Figure (8). The two-phase voltages are used to
obtain the magnitude of the reference voltage vector and
the angle between the voltage vectors in the hexagon.
and are located between the two adjacent non-zero vectors
and the zero vectors, and they can be calculated as follows [9].

The six IGBTs in the inverter can form eight switch variables.
Six of these switch variables are non-zero vectors (i.e.,
), and the rest are zero vectors (i.e., is in sector 1, and can be synthesized by the vectors
selected for the three upper IGBTs switches. The on and off adjacent to it in that sector. Figure 10 shows the corresponding
patterns of the lower IGBTs switches are opposite to those of space vectors and time durations in sector 1.
the upper switches. The voltage space vectors
The time duration of is calculated through the product of
are determined Equations (4) and (5). The eight switching
vectors, output line-to-neutral voltages, and output line-to-line the reference voltage and its sampling time period equal to the
voltages are shown in Figure 9 and Table 3. sum of the voltages multiplied by their time interval of space
vectors in the chosen sector as shown in the following.
The working principle of the SVPWM divides the output wave
of the inverter into six sectors in a hexagon shape. Each sector
lies between two voltage space vectors while the sector angle is
60 degree apart Figure (9) [9].

1 1 1 1
where is the switching time calculated by Ts  1
fs
A A A A
B B B B
C C C C and is the switching frequency. As shown in Equation (7),
applies a zero voltage to the output load. Consequently, the
0 0 0 0
equation becomes:
V0 (0,0,0) V1 (1,0,0) V2 (1,1,0) V3 (0,1,0)

1 1 1 1

A A A A Substituting the values of and from Table (3) to the

B B B B
C C C C
frame and analyse the voltage vectors yield the following:

0 0 0 0

V4(0,1,1) V5 (0,0,1) V6 (1,0,1) V7 (1,1,1)

Figure 9: Eight states for the inverter voltage

vectors

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© Research India Publications. http://www.ripublication.com

Table 4: Switching time calculation at each sector

Sector Upper switching Lower switching

The modulation index (MI) for the SVPWM is the relationship

between the reference voltage magnitude and the DC voltage
value shown in the following equation (Durgasukumar &
Pathak 2012).
2

The time duration in the other sectors can be calculated by

substituting Equation (13) into Equations (11) and (12) and by
using 60 degrees with for each sector to become:
3

The four types of switching patterns are as follows: symmetric

sequence, right aligned sequence, alternating zero vector
sequence, and highest current not switched sequence [11]. All 5
switching patterns must satisfy the following two conditions to
minimize the device switching frequency. The change of the
switching state from one to another involves only two switches
in the same inverter leg. If either one of the switches is tuned
on, then the other must be tuned off to reduce the switching
frequency. The movement of from one sector to the next is
achieved with the minimum number of switching to reduce the
switching losses. Researchers have proven and recommended 6
that the symmetric sequence method is the best method because
it reduces the switching losses. Table 4 and Figure 10 show the
presses for the symmetric sequence for each sector [7].

Ts Ts Ts Ts
T0/2 T1 T2 T0/2 T0/2 T2 T1 T0/2 T0/2 T2 T1 T0/2 T0/2 T1 T2 T0/2

S1 S1
Upper

Upper

S3 S3
S5 S5

S4 S4
Lower
Lower

S6 S6
S2 S2

(a) (b)

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Ts Ts Ts Ts
T0/2 T1 T2 T0/2 T0/2 T2 T1 T0/2 T0/2 T2 T1 T0/2 T0/2 T1 T2 T0/2

S1 S1

Upper

Upper
S3 S3
S5 S5

S4 S4

Lower

Lower
S6 S6
S2 S2

(c) (d)

Ts Ts Ts Ts
T0/2 T1 T2 T0/2 T0/2 T2 T1 T0/2 T0/2 T2 T1 T0/2 T0/2 T1 T2 T0/2

S1 S1
Upper

Upper
S3 S3
S5 S5

S4 S4
Lower

Lower
S6 S6
S2 S2

(e) (f)
Figure 10: SVPWM switching patterns in (a) sector 1, (b)sector 2, (c) sector 3, (d) sector 4, (e) sector 5, and (f) sector 6

Figure 11 shows the SVPWM signal generation, inverter output technique. The phase angle between the voltages is 90 degree.
voltages, and comparison of the three signals of the duty ratio are transferred to the reference voltage and
waveform with the triangular waveform. This comparison is
the angle as shown in Equations (6). Figure (12) shows the
based on the condition , in which case
simulation model of the first step. In the second step, the
; otherwise ,. In a bipolar switching scheme,
each switch works opposite to the facing switch, similar to the simulation model receives three signals and the
case involving the comparison of the with the DC voltage and switching time values are fixed. The times
triangle waveform to generate the PWM signal for IGBT1 and duration are then calculated through the Equations
the opposite IGBT4 in leg1, which is the same as leg2 and leg3 (14), (15) and (16). Table (4) is used to determine the
[9]. switching patterns in each sector. Figure (13) presents the
simulation model of these calculations. In the final step of
-3
x 10 SVPWM simulation model, the switching signals to the IGBT
TaDutyRatio1 devices are generated by comparing the duty ratio
TbDutyRatio with the up-triangle signal to generate the PWM for each IGBT
0.5
VTriangle device.
TcDutyRatio
0
1 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018
0.5
S1
0
1 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018
S0.5
3
0
1 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018
S0.5
5
0
V
500
dc
0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018

Vab 0
-V
-500
dc
400 0.005 0.01 0.015
2/3V200
VanFigure011: SVPWM waves and voltages of a three-phase
dc

-200 inverter
-2/3V dc
-400
0 0.005 0.01 0.015 0.02
Time (sec)
The simulation model of the SVPWM technique is designed in
MATLAB/Simulink in two steps. In the first step, the reference Figure 12: Simulation model of reference voltage, theta and
voltage , angle , and number of sectors are number of sectors.
determined. Two voltages are received with this

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© Research India Publications. http://www.ripublication.com

Figure 13: Simulation model of reference voltage, theta and number of sectors

Figure 14: Simulation models of time duration and switching patterns

RESULTS
The simulation results are based on implementation and control 3200
3000
schemes stated in the simulated model in Figure 14. The related
results are used to validate the new control system of BLDC
2500 3000 3000
motor. In this work, the results are obtained from comparison 2800 2950
between NCS and CCS, classical PI speed controller has been 2600 2900
Speed (rpm)

2000
used for a control system of BLDC motor. 0.050.10.15 0.5 0.55 0.6
Figure 14 shows the speed response for NCS and CCS of 1500
BLDC motor. The NCS speed response is achived the best
performance than CCS. Morover, the minimime of maximum 1000
Wref
overshoot, steady state error and setlling error. Figure 15 shows
the three-phase curents for ramp response. This currents 500 WCCS
present 4.7 A from 0 to 0.5 sec because of the motor operated WNCS
with no-load and increase the magnitude current until 10 A 0
0 0.2 0.4 0.6 0.8 1
when the motor operated is full load. Figure 16 and Figure 17 Time (sec)
show the three-phase voltages and EMFs at the same condition. Figure 15: Speed response in rpm verses time.
Figure 18 Electromagnetic Torque developed in N-m.

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20 terms of robustness, damping capability, and enhancement of

10 transient responses of BLDC motor.
Iabc (A)

5
0
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CONCLUSIONS [10] K. V. Kumar, P. A. Michael, J. P. John and S. S. Kumar

“SIMULATION AND COMPARISON OF SPWM
New control system is proposed to improve the performance of AND SVPWM CONTROL FOR THREE PHASE
BLDC motor through elimination from three Hall sensors for a INVERTER”, ARPN Journal of Engineering and
less expensive, more reliable system, fast speed response of Applied Sciences, VOL. 5, NO. 7, PP. 61-74, 2010.
BLDC motor drive by SVPWM switching technique inverter.
PI controller has been used for the speed control of BLDC
motor. The results has been obtained clearly displayed that the
NCS speed response is better than the CCS speed response in

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