2017 2nd IEEE International Conference On Recent Trends in Electronics Information & Communication Technology (RTEICT), May 19-20,

2017, India

Comparative analysis of Field oriented control of

BLDC motor using SPWM and SVPWM
techniques
Meghana N Gujjar Pradeep Kumar
Dept. of Electrical and Electronics, NMAMIT, Nitte, India Department of Electrical and Electronics
[email protected] NMAMIT, Nitte,India
[email protected]

Abstract— In this paper, the comparative performance vector in d-q axis is fixed, the PI controllers operate on DC
analysis of Field oriented control (FOC) of Permanent magnet instead of sinusoidal signals. The indirect field oriented control
brushless DC (PMBLDC) motor using sinusoidal pulse width (IFOC) process allows the motor to easily operate throughout
modulation (SPWM) and space vector pulse width modulation the speed range in closed loop mode [3, 4]. It is used to control
(SVPWM) techniques is presented. The primary focus of using phase and amplitude of stator currents or voltage at the mean
field oriented control for motor is to control the motor time. As motor torque depends on stator current, it can be
parameters in d-q axes along with sinusoidal and space vector controlled by controlling q-axis current iqand rotor flux can be
modulated pulses for voltage source inverter driving the BLDC controlled by controlling direct axis current id[5]-[7].
motor. This vector control method improves the system
performance along with high efficiency and low torque ripple Among several pulse width modulation schemes Space
thus making it suitable for finding applications in high vector PWM and Sinusoidal PWM techniques are the most
performance variable frequency drives. The sensor less approach popular modulation techniques used for industrial applications,
for rotor position sense provides an advantage of cost reduction especially where semiconductor switch converters are
with ease of implementation using digital signal controllers employed [8]. This paper focuses on simulation and theoretical
(DSCs) and microprocessors. The analysis of the system is comparative analysis of SPWM and SVPWM. It also discusses
realized using MATLAB/SIMULINK program. The simulation about benefits and liabilities of two modulation techniques. The
results show that the SVPWM based system has superior
block diagram of sensorless indirect field oriented control of
performance compared to SPWM system.
PMBLDC motor using PWM method is shown in Fig. 1. The
Keywords—BLDC motor,field oriented control,Clarke-park paper is organized as follows: Section 2 gives an over view of
transformation, SPWM,SVPWM BLDC motor modeling. Section 3 describes the field oriented
control algorithm. Section 4 and 5 explains about the SPWM
I. INTRODUCTION and SVPWM techniques. The simulation model and results are
discussed in section 6 and conclusions are remarked in section
In recent years, ac motors find applications in high
7.
performance drive system due to advance developments in
power electronics, magnetic materials and microprocessors.
The permanent magnet synchronous motor (PMSM) is
extensively used among various kinds of ac motors due to its
advantageous features. The BLDC motor consists of permanent
magnets on rotor and stationary armature. It has several
advantages compared to brushed DC motor and induction
motor such as long lifetime (has no brushes and commutator),
high efficiency, reliability, less noise and high torque to weight
ratio[1,2].
The Field oriented control (FOC) can be also referred as
vector control. It is originally developed for variable frequency
motor drives, which involves vector control of current and
voltages, that results in space alignment of electromagnetic Fig.1: Block diagram of the system under study
field control. The principle of variable voltage and frequency
method is to control rotor speed and torque by varying input II. MOTOR MODELLING
voltage and frequency. The basic constraint of sinusoidal
The equivalent circuit diagram of BLDC motor connected
commutation is to control motor currents of time variant in
nature, which results in break down as speeds and frequencies to constant DC source via three phase inverter consisting of
increase due to the limited bandwidth of Proportional and MOSFET/Diode siwtches is shown in Fig. 2. The
Integral (PI) controllers. FOC solves this problem by directly mathematical medel of three phase star connected BLDC
controlling current space vector in d,q reference frame of rotor. motor is presented below [5]:
In ideal case, the current space vector is constant in magnitude
and direction with respect to the rotor [1]. Since current space
978-1-5090-3704-9/17/$31.00 © 2017 IEEE
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 2017 2nd IEEE International Conference On Recent Trends in Electronics Information & Communication Technology (RTEICT), May 19-20, 2017, India

III. FIELD ORIENTED CONTROL ALGORITHM

Step 1: The IFOC process starts with stator current
measurement [3]. The vector representation of current in abc,
dq and αβ reference frame is illustrated in Fig. 3.

Fig.2: Equivalent circuit of BLDC motor

Assuming, Ra = Rb = Rc = R for balanced three phase system.

dia
Va Ria  ( L  M )  ea (1)
dt Fig.3: Combined current vector representation
di
Vb Rib  ( L  M ) b  eb (2) Two out of three phase currents are measured and third phase
dt current ic is computed using the instantaneous current relation:
dic i a  ib  i c 0 (10)
Vc Ric  ( L  M )  ec (3)
dt
Step 2: The 3-phase static reference frame currents are
Where, Va, Vb, Vc = terminal phase voltage, R = armature
converted into to 2-axis orthogonal reference (α,β) axes using
resistance, L = armature self inductance, M = mutual
Clarke’s transformation.
inductance between any two phases, ia, ib, ic = stator phase
current, ea, eb, ec = motor back emf. The bak-emf of motor
equation can be written as: iD ia (11)
1 2
ea K w f (T e )Z (4) iE ia  ib (12)
3 3
23 Step 3: The 2-axis time variant system (α,β) are again
eb K w f (T e  )Z (5) transformed to d-q coordinate system using Park’s
3
transformation as given below:
23
ec K w f (T e  )Z (6) id iD cosT  iE sinT (13)
3
1 0 ≤ θe ≤ 2π/3 iq iD sinT  iE cosT (14)
⎧ Where, θ is the rotor position angle, the d-q axis currents are
⎪1− θe − 2π/3 ≤ θe ≤ π
= (7) time invariant components. The motor torque can be
⎨ −1 ≤ θe ≤ 5π/3 controlled by controlling the iq and rotor flux can be controlled
⎪ by controlling id.
⎩−1 + θe − 5π/3 ≤ θe ≤ 2π

Step 4: The id reference value is kept as zero and iq reference

Where θe = (P/2)θm, θe and θm are rotor electrical and
is obtained from the speed control loop output. Then id* and iq*
mechanical angle respectively, f() gives the trapezoidal
function of phase-A Back-emf, Kw= back emf constant, ω= are compared with the actual motor current feedback signals.
rotor speed. The PI controllers are used for processing the error signals
The electromagnetic torque equations in electrical and generated by comparator. The controllers provide the
reference voltage (Vd, Vq) vector signals.
mechanical form are given in (8) and (9) respectively.
1 Step 5: The d,q voltage vectors are converted back to α,β
Tem (e i  e i  e i ) (8)
Z aa bb cc reference frame using Inverse Prak’s transformation.
dZ VD Vd cosT  Vq sinT (15)
Te J  BZ  TL (9)
dt VE Vd sinT  Vq cosT (16)
Where, P = number of poles, T L = load torque, J = moment of The resulting voltages Vα and Vβare then utilized to perform
inertia, B= friction constant. Space vector modulation.

Step 6: Using Inverse Clarke’s transformation method the α,β

axes are transformed back to abc reference frame and then the
Va, Vb, Vc voltages are used to perform sinusoidal PWM.
Clarke’s transformation can be written as:
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 2017 2nd IEEE International Conference On Recent Trends in Electronics Information & Communication Technology (RTEICT), May 19-20, 2017, India

Va VD (17)

1 3
Vb [ VD  VE ] (18)
2 2
1 3
Vb [ VD  VE ] (19)
2 2
IV. SINUSOIDAL PULSE WIDTH MODULATION
Sinusoidal pulse width modulation is a simple and most Fig.5:Representation of sector 1
commonly used modulation technique for inverter and motor
control applications. In this method, the three sine signals are Where, θ = ωt = 2πft
compared with high frequency carrier triangular signal to
generate switching pulses for inverter. The three sinusoidal sine
Vref TZ V1T1  V2T2 (24)
waves each having 120o phase shift is generated from dq to abc Where Tz= 1/fs, fs is switching frequency, Φ is angle between
converter block are utilized for PWM generation. The each vector within 0 to 60 degrees.
sinusoidal wave frequency is of 50 Hz and the frequency of I T  ( N  1)60 (25)
carrier wave is chosen to be 10 KHz. The comparator provides
T1, T2 and T0 switching periods can be determined using the
switching pulses and these pulses are used to trigger respective
inverter switches. following equations,
2 Vref
V. SPACE VECTOR PULSE WIDTH MODULATION T1 Tz sin(60  I ) (26)
The space vector modulation is an advanced PWM method. 3 V1
It provides better utilization DC bus voltage compared to 2 Vref
SPWM. SVM has superior characteristics like reduced T2 Tz sin(I ) (27)
harmonic distortion, high output quality and low rating of filter 3 V2
components [9]. Fig. 4 shows the space vector representation of
three phase system, in which the reference vector (Vref) rotates
T0 Tz  (T1  T2 ) (28)
with angular velocity with respect to stationary orthogonal α-
βreference frame. Here α-axis coincides with phase voltage Va VI. SIMULATION AND RESULTS
axis. The magnitude and frequency of fundamental components A. Simulation
are controlled by controlling magnitude and frequency of Vref.
The simulation is carried out using MATLAB/SIMULINK.
The simulink model of SPWM and SVPWM based Field
oriented control of BLDC motor are developed and are shown
in Fig. 6 and Fig. 7. The simulink block consists of three phase
star connected PMBLDC motor, 3-phase VSI, PWM and
controller. The motor specifications considered for simulation
study are given in the Table 1. The algorithm of the controller
consists of two control loops, outer speed control loop and
inner current control loop. For speed control loop the reference
speed command is set to 4000 rpm. PI controller is used for
governing the control process. Simulation time is set to 0.12
sec and load torque of 0.122 Nm is applied at 0.05 sec.
TABLE I: SPECIFICATION OF MOTOR
Fig.4:Vector representaion of SVPWM
Parameter Value
The desired three phase output voltage equations can be
represented as below: Input DC voltage 24 V
Va Vm cosZt (20) Stator Resistance 0.36 Ω
Vb Vm cos(Zt  120 ) o
(21) Stator inductance 0.6m H

Vc Vm cos(Zt  120o ) (22) Rated torque 0.125 Nm

Fig. 5 shows the representation of sector 1 with reference Torque constant 0.036 Nm/A
voltage. Vref can be defined as, Moment of inertia 4.6u Kg-m2
3
Vref Vm e jT (23)
Pole pairs 4
2

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Fig.8: Response of inverter line voltage (a) for SPWM (b) for SVPWM

Fig. 9 shows trapezoidal back-emf of phase-A response for

SPWM and SVPWM. The back-emf is trapezoidal in shape
with the amplitude of 7.5 V.

Fig.6: Simulink model of field oriented control of PMBLDC motor with (a)
SPWM

(b)

Fig.9:Response of Back-emf phase A (a) for SPWM (b) for SVPWM

Three phase stator current response of motor for SPWM and

SVPWM are shown in Fig. 10 and Fig.11. It can be observed
Fig.7: Simulink model of field oriented control of PMBLDC motor with
SVPWM from the results that the motor employing SPWM draws more
current than SVM.The amplitude of current is 9 A at low load
B. Results and discussion and 10 A, when high load is applied for SPWM based motor
system. For SVPWM its amplitude is 1.4 A for low load and
At different load torques, the simulation results of various
parameters are taken. The parameters such as speed, torque, 2.5 A for high load application.
stator current and back-emf of motor for both pulse width
modulation techniques are considered for comparison, keeping
all other motor specifications constant. The terminal voltage
waveform for sinusoidal and space vector PWM configuration
is shown in Fig. 8.

(a)

(a)

(b)

Fig.10: Stator current response of motor (a) for SPWM (b) for SVPWM

(b)

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 2017 2nd IEEE International Conference On Recent Trends in Electronics Information & Communication Technology (RTEICT), May 19-20, 2017, India

(a) (a)

(b)

Fig.11: Phase-A current response of motor showing transient reponse for (b)
change in load torque (a) SPWM (b) SVPWM
Fig.13: Electromagnetic torque response for (a) SPWM (b) SVPWM

(a) (a)

(b)
(b)
Fig.14: Torque ripple for (a) SPWM (b) SVPWM
Fig.12: Speed response of motor for (a) SPWM (b) SVPWM
CONCLUSION
Fig. 12 shows the speed response of Brushless DC motor. It is
observed that the speed response is improved when SVPWM is The indirect field oriented control of permanent magnet
used. Pulsation in speed curve and settling time are reduced brushless DC motor using sinusoidal and space vector pulse
and speed regulation is improved with SVPWM. width modulation techniques has done using
MATLAB/SIMULINK. The comparative performances
Electromagnetic torque response of BLDC motor for SPWM between both PWM techniques are presented here. From the
and SVPWM are shown in Fig. 13. A clear view of torque from simulation outcomes, it can be seen that SVPWM technique
0.06-0.12 seconds is shown in Fig. 14. It can be seen that the employed model shows improved system performance, draws
torque ripple is less in SVPWM based system compared to less current for motor operation, smooth speed response and
SPWM. reduction of torque ripple.
REFERENCES
[1] Bimal K. Bose, “Modern Power Electronics and AC drives,” 2008.
[2] Bhim Singh and Sanjeev Singh, “State of the art on permanent magnet
brushless DC motor drives,” Journal of Power Electronics, Vol. 9, No. 1,
Jan 2009.
[3] AN2388, “Sensor field oriented control (IFOC)of three-phase AC
induction motors using ST10F276,” Application note, October 2006.

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[4] “Sensorless Field Oriented Control (FOC) for Permanent Magnet
Synchronous Motors (PMSM),” Microchip technology, 2007.chip
[5] Kh. I. Saleh, M. A. Badr and S.A.Wahsh,“Perfect Field Oriented
Brushless DC Motor,” IEEE, Power Engineering Society Summer
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[6] Marek Lazor and Marek Stulrajter, “Modified Field Oriented Control for
Smooth Torque Operation of a BLDC Motor,” ELEKTRO, IEEE, 2014.
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[8] Bo Li and Chen Wang, “Comparative Analysis on PMSM Control
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[9] Naim Suleyman Ting, Yusuf Yasa, Ismail Aksoy and Yakup Sahin,
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