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Brushless DC motor driven plug in electric vehicle

Article · January 2015

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 International Journal of Applied Engineering Research, ISSN 0973-4562 Vol. 10 No.55 (2015)
© Research India Publications; httpwww.ripublication.comijaer.htm

BRUSHLESS DC MOTOR DRIVEN PLUG IN ELECTRIC

VEHICLE
1
Mr. Vishnu Sidharthan P, 2Mr. Suyampulingam, 3Mr. Vijith K
1
PG student-Power Electronics, Department of Electrical and Electronics, Amrita Vishwa Vidyapeetham, Coimbatore
2
Associate Professor- Department of Electrical and Electronics, Amrita Vishwa Vidyapeetham, Coimbatore
3
AssociateProfessor-Department of Electrical and Electronics, Amrita Vishwa Vidyapeetham, Coimbatore

Abstract 2.BLDC motor operation

Global warming and noise pollution are serious ailments
plaguing today's world. This paper deals with the electric
scooter in which a Brushless DC(BLDC) motor is incorporated
at the rear wheel of the scooter. The controlling of BLDC
motor is done by a Motor Control Unit(MCU) in which the
motor rotates based on current commutation. With the hall
sensor outputs at each position of rotor there will be a
switching scheme of six different states. Start stop and speed
control of vehicle are controlled by the MCU. A 60V,1000W
BLDC Motor is selected to drive the vehicle. The
mathematical modelling of BLDC motor is implemented in
matlab simulink. Also the closed loop speed control of BLDC
motor is done in matlab. Hardware control of motor is done
Fig.1:Circuit diagram of BLDC motor
using Arduino uno development board in which Atmega 328
microcontroller is embedded. Corresponding pulses are
BLDC motor is an electronically commutated machine which
obtained to drive each switch at different commutation states.
is similar to AC synchronous machine. It produces trapezoidal
back emf and the two stator windings are excited during each
Keywords: Electric Vehicles (EVs), Motor Control Unit state according to the position of the hall sensors which are
(MCU), Brushless DC Motor (BLDC motor). embedded in the stator of the motor. Sensors will detect the
position of rotor magnet. Whenever the rotor poles pass near
1.Introduction the hall sensors, it will produce high or low signals. Based on
In recent years, vehicle emission is a major cause for global the combination of hall sensors, exact commutation sequence
warming. The harmful gases produced from the vehicles create is obtained. To rotate the BLDC motor stator windings should
problems to our future society. Also the cost for petroleum be energized in a sequence[3]. Fig 1 shows the circuit diagram
fuels and natural gases are increasing rapidly. The availability of BLDC motor.
of such products is depleting and will be extinct in future. The
requirement of vehicles which efficiently uses the electricity
must be necessary in coming world.[1],[2]. These vehicles
should also meet the requirements in vehicle performance,
electrical power, passenger comfort, and safety by effective
control scheme. The popularity of electric vehicles (EV) rise
rapidly with the savings in fuel costs compared to internal
combustion engine vehicles.
Considering the forces that affect the running of a vehicle
in real time, and the requirement of specification for the
vehicle the BLDC motor rated at 60V,1000W is selected for
the vehicle. Lead acid battery normally available in market for
automotive application is 12V;20Ah is also selected for
supplying the DC input to the motor. The major forces which
affect the tractive force are gradient force, force due to
acceleration, frictional force of tyres and aero dynamic drag
force. Ptraction = Pgrade + Paccel + Pfriction + Ptyres + Paero.
With the calculation of all the forces responsible for the
motion, selection of motor is done.
Fig. 2: Trapezoidal Voltage and hall values

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In each hall sensor sequence there will be energizing of two

stator windings in which two switches will be turned on at
each states as in Fig 2.The commutation sequence for the
motor rotation is stated in Table 1[3] Hence trapezoidal
voltages are provided to each phase windings.

Table. 1: Commutation sequence of BLDC motor

Specification of the vehicle is in Fig 3 which is designed as

per the requirements of the vehicle. With proper control of
BLDC motor the vehicle will have the specified performance.
Fig. 4: Block diagram of proposed system

To make the motor run, there must be a rotating

electric field. The position of the rotor is provided to the
control unit from the hall sensors and according to the
commutation sequence the PWM pulses are generated from
the control unit. [5]Two switches are conducted in each state
and thus a trapezoidal AC output voltage is obtained from the
inverter switches. This voltage is fed to the stator windings of
the BLDC motor which creates the rotating electric field. As
the voltages are given in particular sequence with respect to
the rotor position the magnetic rotor will try to catch the stator
flux at each intervals of the rotation. The complete controlling
of the vehicle is done by the motor control unit.
In this control scheme an Arduino uno board with
Atmega 328 microcontroller in which 14 digital input/output is
present. It includes six PWM pins. The coding has been done
Fig.3: Specification of electric scooter
according to the proper controlling of the motor.Motor control
with microcontroller is shown in Fig.5. The controller will
receive the driver inputs such as throttle which is a
3.Proposed System potentiometer, brakes and start or stop switch. Start or stop
The BLDC motor used to drive the electric scooter has to be switch will make the motor to start operating and with the
controlled efficiently to obtain a better vehicle rotor position inputs received from hall sensor Atmega
performance.The control block diagram of proposed system in controller will provide PWM pulses and thus the motor will
Fig 4 consists of two control units. Battery control unit will start rotating and the throttle is a potentiometer which acts as
control the battery unit and protect the battery from over the accelerator input for the driver to adjust the speed of
discharging. The Depth of Discharge (DOD) of the battery is scooter. The input from the throttle is read by the controller
normally 75 percent. The control unit will not allow battery to and varies the speed of the motor accordingly. Brake input will
be discharged above the DOD. Motor control unit controls the make the motor to stop running as the controller will turn off
proper running of the vehicle by controlling the BLDC motor. the inverter switches and thus the voltages to each phase will
be zero. BLDC Motor is operated by driving the switches in
different sequences at each intervals. The six switches are
required to energise the phase windings of the stator. With the

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© Research India Publications; httpwww.ripublication.comijaer.htm

sequence in the commutation table for different states two

switches are triggered alternatively. Atmega 328
microcontroller is provided for the closed loop speed control
with reference speed input is provided by means of throttle of
the vehicle. Actual speed of motor and the reference speed is
compared and the speed error can be obtained. A PI controller
can be used to amplify the speed error and adjust the PWM
duty cycle. The pulse width of each switch which is operating
at each commutation states willbe varied simultaneously with
the value obtained from the PI controller. Thus the speed of
motor can be varied to the value corresponding to the throttle
input. Hence the vehicle will run at a speed decided by the
driver.

Fig 6: Sub block of BLDC motor

In Fig 6 the equations 1,2,3,4 are implemented and the

modelling is done. With the commutation sequence each
switches are triggered and thus the motor operates. Complete
modelling of motor is shown in Fig 7.

Fig. 5: Motor control with microcontroller

3. Mathematical modelling of BLDC motor

The mathematical model of BLDC motor is done and the exact
operation of the motor with the hall sensor is obtained. Motor
is modelled in the matlab with the equations of BLDC motor.

(1)

(2) Fig 7: Motor modelling of BLDC motor

Closed loop control of BLDC motor is done which is shown in

Fig 8 and the required speed is obtained by comparing the
(3) reference and actual speed of the motor and speed output is
shown in Fig 9 [8].
(4)

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Hall sensor values at each intervals are obtained and

shown in Fig 10 and the switching is done according to the
commutation sequence in table 1. The stator is energised as per
the commutation sequence and the stator currents are shown in
Fig 11. Two phases are energised at each states and the motor
is operated. For the hall sensor outputs 100 switches Q1 and
Q6 are operated and the stator currents ia and ic are obtained.
Similarly, when the rotor reaches the next hall state, switching
is changed and thus the commutation of motor is occurred
electronically hence called electronic commutated motor [6].
At the first instant ib current is zero shows that the stator
windings are excited at phase a and phase c.

Fig 8: Model for speed control of BLDC motor

Fig. 11: Stator currents ia, ib, ic

4. Experimental Verification of Program Code

Arduino uno atmega 328 microcontroller having a clock
frequency of 16 Mhz is used for the controlling part. The
driver inputs are read in the input pins of the controller and
accordingly the coding has been done to operate the motor.
Thus for different speed input given by the driver from the
throttle the controller will vary the on time of the bridge
inverter switches. The set up for experiment is shown in Fig
12.
Fig 9: Speed of BLDC motor in rpm

Fig. 12: Experimental set up

Fig 10: Hall sensor outputs

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© Research India Publications; httpwww.ripublication.comijaer.htm

The results are obtained for each states of hall sensor at 5. Conclusion
Arduino PWM output pins. First for the hall state 1 (100) the This work proposes the complete controlling of electric vehicle
switches 1 and 6 are to be turned on hence the PWM output of which is driven by Brushless dc motor. Motor modelling is
controller should be high on particular switches and the speed done in matlab. Speed control is also implemented in
is varied and thus the pulse width of PWM pin are also varying simulation. The required speed for the driver can be attained.
for half speed as shown in Fig 13 and full speed is shown in Programming in atmega 328 controller is done and the output
Fig 14. For the next hall state (110) the switching is shifted pulses are verified. According to the commutation sequence
toswitches 3 and 6, thus switch 1 is to be turned off. Hence in each switches are operated and thus motor can be controlled as
Fig 15 the PWM 1 output is zero and only PWM 6 remains. per the driver inputs. A reliable and efficient vehicle which is
Thus with the variation in hall states the switching sequence is free from emitting harmful gases is developed and will play an
also changing. Also the required speed can also be obtained. important role in transportation industry in future world.
Through the simulations and experiments done the controlling
of vehicle can be completed. Also the rotation in this work is
in forward direction, and can be done in both clock wise and
anti clock wise direction by changing the commutation
sequence in opposite order. And thus it is possible to run the
vehicle in backward direction also.

References
[1] Electric Vehicle Technology Explained, James
Larminie Oxford Brookes University, Oxford ,UK
John Lowry Acenti Designs Ltd., UK
[2] A. Emadi, Y. L. Lee, and R. Rajashekara, “Power
electronics and motor drives in electric, hybrid
electric, and plug-in hybrid electric vehicles,” IEEE
Trans. Ind. Electron., vol. 55, no. 6, pp. 2237–2245,
` Jun. 2008.
Fig. 13: PWM outputs 1 and 6 with half speed in hall state [3] Brushless DC (BLDC) Motor Fundamentals,
100 Padmaraja Yedamale Microchip Technology
Inc.
[4] S. Han and D. Divan, “Bi-directional DC/DC
converters for plug-in hybrid electric vehicle (PHEV)
applications,” in Proc. 23rd Annu. IEEE Appl. Power
Electron. Conf. Expo., Austin, TX,pp. 787 -789 Feb.
2008.
[5] P. Pillay, R. Krishnan, “Analysis of permanent-
magnet motor drives. I: The permanent-magnet
synchronous Motor Drive”, IEEE Transactions on
Industry Applications, vol. 25, No. 2, pp. 265-
273,March 1989 .
[6] Jun-Hyuk choi, Se- hyuk you, "The design and
fabrication of BLDC motor and drive for 42V
automotive application"In Proc.15th IEEE applied
Fig. 14: PWM outputs 1 and 6 with full speed in hall state 100 powerelectronics conf, NEW Orleans,
Louisiana,pp.3-9, Feb 2000.
[7] Larminie, J., Lowry, J. (2003). Electric Vehicle
Technology ExplainedJohn Wiley & Sons, New
York.
[8] A.Kiruthika, A.AlbertRajan"Mathematical modelling
and Speed control of a Sensored Brushless DC
motor using Intelligentcontroller "2013 IEEE
International Conference on Emerging Trends in
Computing, Communication and Nanotechnology
ICECCN 2013.

Fig. 15: PWM outputs 1 and 6 with half speed in hall state 110

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