VECTOR CONTROL /

FIELD ORIENTED
CONTROL OF BLDC
MOTOR
Shaik Mohammed Latif
22015A0209
 TABLE OF CONTENTS

01 02 03
BASICS OF VECTOR CLARKE/PARK
BLDC MOTOR CONTROL TRANSFORM

04 05 06
SPACE VECTOR IMPLEMENTATION ADVANTAGES
MODULATION AND
DISADNAVTAGES
01
BASICS OF
BLDC MOTOR
Basics of BLDC Motor
• BLDC (Brushless DC) motors use electronic
commutation instead of brushes, making them more
efficient and durable than brushed DC motors.
• Rotor Contains permanent magnets arranged in
alternating poles (north and south) to create a
continuous magnetic field.
• Stator Consists of fixed coils arranged in phases
(usually three) around the rotor, generating a magnetic
field when current flows through them.
Working of BLDC Motor
• A BLDC motor operates using a rotating magnetic
field created by the stator, which interacts with
permanent magnets on the rotor to produce
continuous rotation.
• The stator coils are energized in a specific sequence
to create a rotating magnetic field.
• This rotating field interacts with the rotor's magnetic
field, causing the rotor to follow and produce
continuous rotation.
SENSORED MOTOR CONTROL
• Hall Effect Sensors are often used to detect rotor
position, allowing the controller to energize the
correct stator coils.
• This precise positioning enables smooth and
efficient operation across various speeds and
torque requirements.
02
VECTOR
CONTROL
VECTOR CONTROL / FIELD ORIENTED CONTROL
Definition of Vector Control:
• Vector control, also known as field-oriented control (FOC), is an advanced motor control
technique that separates the control of a motor’s torque and magnetic flux by transforming
them into independent components. This allows for precise adjustments, improving torque,
speed response, and overall motor efficiency.
• Enables accurate and independent control over torque and flux, allowing for fast
dynamic response and high efficiency in various speed and load conditions.
Working of Vector Control
• Vector control (Field-Oriented Control) works by breaking down the complex,
rotating quantities of a motor’s three-phase currents and voltages into two
simpler, orthogonal components: the direct (d-axis) and quadrature (q-axis)
components. This simplification allows precise control over torque and
magnetic flux independently.
• The separation of three phase currents into two orthogonal components is done
by Clarke Transformation and park transformation.
 • The torque is not constant because the
rotor and stator fields are not
orthogonally aligned at all times.
• To get the constant value of torque the angle
between stator and rotor field must be constant.

• For the maximum torque the angle between rotor

and stator fields must be 90.

• Torque and speed outputs with six step commutation

• It measures the rotor angular position.
• Compute the desired stator field vector based on
measured rotor angular position.
• Control three phase currents to achieve the
desired stator field vector
How to get a desired stator field
• Consider pink as a stator field vector and gray as
rotor field vector.
• They are displaced with an angle of 45.
• In order to achieve 90 phase displacement the
stator field should be altered.
• This is done by resolving stator vector in to two
components.
• The stator field vector is resolved into two
different vectors i.e., Direct axis and
Quadrature axis.
• Direct axis align with the rotor field and
the quadrature axis is in quadrature(90)
with the rotor field.
• Now the values of direct axis currents can
be varied to get the maximum torque.
• When the value of direct current is made
zero and the value of quadrature current
maximum then the resultant stator field
vector shift to the quadrature of the rotor
field.
• Using two PID controllers the values of Id
and Iq are changed in vector control
systems
03
CLARKE/PARK
TRANSFORM
Clarke Transformation
• The Clarke Transformation, developed by American electrical engineer
Edith Clarke is a mathematical transformation that converts three-phase (a-
b-c) quantities into a two-axis (α-β) stationary reference frame.
Clarke Transformation
• The Clarke transform converts the time domain components of a three-phase
system (in abc frame) to two components in an orthogonal stationary frame
(αβ).
Park Transformation
• The Park Transformation converts two-axis stationary reference frame signals
(α-β) into a rotating reference frame (d-q).
• Aligns with the rotor’s magnetic field, enabling independent control of flux (d-
axis) and torque (q-axis).
• Simplifies motor control by converting AC signals in the stationary frame into
DC signals in the rotating d-q frame, making real-time control over motor
torque and flux possible.
04
SPACE VECTOR
MODULATION
Space Vector Modulation (SVM)
• Space Vector Modulation (SVM) is a technique used in inverter control to generate a
sinusoidal waveform for controlling motors with high efficiency and low harmonic distortion.
Space Vector Modulation (SVM)
• Space vectors angular position is controlled by switching between basic vectors.
• Space vectors magnitude is controlled by switching between basic vectors and null
vectors.
DIFFERENCE BETWEEN PWM AND SVM
• The main difference is the double humped shape of the waveform in SVM technique.
DIFFERENCE BETWEEN PWM AND SVM
• Space vector PWM increases bus utilization by 13.3% over sinusoidal PWM
Feature Pulse Width Modulation (PWM) Space Vector Modulation (SVM)

Controls the motor by adjusting the Uses a rotating vector to synthesize a

Basic Concept
width of pulses to vary voltage. smooth sinusoidal output.
Creates a single vector by combining
Traditional method of switching phases
Switching Technique the three-phase signals in a 2D plane
directly based on sinusoidal signals.
(α-β).
Generally less efficient due to higher More efficient with lower harmonic
Efficiency
harmonic content. distortion and better torque control.

Limited to about 86% of the available Utilizes up to 100% of the DC bus

DC Bus Utilization
DC bus voltage. voltage, offering higher output.

Higher harmonics, which may cause Lower harmonic distortion, resulting

Harmonic Distortion
additional losses. in smoother motor operation.
More complex due to vector
Easier to implement, less
Complexity calculations but provides smoother
computationally intensive.
control.
Basic motor control in low-cost or less High-performance motor control,
Applications
demanding applications. such as in industrial drives and EVs.
05
IMPLEMENTATION
SIMULINK IMPLEMENTATION
SIMULINK IMPLEMENTATION
OUTPUT
ADVANTAGES
• Precise Control of Torque and Speed: Vector control allows for accurate control of both
torque and speed, which improves the motor’s dynamic performance and makes it suitable
for applications requiring fine motor control.
• Improved Efficiency: By aligning the current in the rotor’s magnetic field direction, FOC
reduces losses, leading to better energy efficiency.
• Smooth Operation at Low Speeds: Vector control provides smoother operation at lower
speeds compared to traditional methods, making it ideal for applications that require slow
and steady motion, such as robotics.
• Reduced Torque Ripple: Traditional control methods for BLDC motors can produce high
torque ripple. Vector control minimizes this ripple, reducing vibration and noise.
DISADVANTAGES
• Complexity in Implementation: Vector control algorithms are complex and require
precise modeling and knowledge of motor parameters, which increases design and
implementation effort.
• Dependency on Accurate Motor Parameters: For effective control, vector control
relies on accurate information about the motor parameters (like inductance and
resistance). Parameter variations over time can reduce control accuracy.
• Increased Computational Demand: FOC requires high computational power,
especially in real-time applications, which may be a drawback in low-cost systems
Conclusion
• Vector control, or field-oriented control, is a powerful and
efficient method for managing the speed and torque of BLDC
motors, making it highly suitable for applications requiring
precise motor response and high efficiency.
• By implementing Clarke and Park transformations, vector
control breaks down complex three-phase signals into
manageable components, allowing independent control of
flux and torque.
• Space Vector Modulation (SVM) further optimizes control by
maximizing DC bus utilization and reducing harmonic
distortion, ensuring smoother and more reliable motor
operation.
 REFERENCES
• MathWorks – "Vector Control and Field-Oriented Control,"
MathWorks Website. Available at:
https://www.mathworks.com
• Texas Instruments – "BLDC Motor Fundamentals and
Control," Texas Instruments Website. Available at:
https://www.ti.com
• Electrical Baba – "Vector Control of Motors." Available at:
https://www.electricalbaba.com
• Nguyen Phung Quang and Jörg-Andreas Dittrich – Vector
Control of Three-Phase AC Machines: System Development
in the Practice. Springer, 2015.
THANK YOU!!