Department of Electrical & Electronics Engineering

EXPERIMENT – 5
SIMULATION OF BLDC DRIVE SYSTEM
5.1 AIM:
To control the speed of BLDC motor using closed loop PID controller using MATLAB
Simulink.
5.2 SOFTWARE USED:
S. No SOFTWARE USED
1 MATLAB-2015a
5.3 THEORY
Working Principles of BLDC Motors and Controllers
A BLDC motor controller regulates the speed and torque of the motor; it can also start,
stop, and reverse its rotation. To understand the working principles of the controller, let
us start first with the construction of a brushless motor. Its major components
comprise: an armature or rotor made of permanent and in many cases neodymium
magnets; and a stator with windings that create a magnetic field when energized.
The rotor’s magnets and stator’s windings provide the rotation of the motor. They
attract each other with opposite poles and repel each other with the same poles. A
similar process takes place in a brushed DC motor. The essential difference is in the
method of switching the current applied to the wire windings.
In a BDC motor, this is a mechanical process triggered by a commutator with brushes. In
a BLDC motor, it happens electronically with the help of transistor switches.
Controller
A BLDC motor controller detects the position of the rotor either by using sensors (for
example, a Hall-effect sensor) or sensorlessly. The sensors measure the rotor’s position
and send out this data. The controller receives the information and enables the
transistors to switch the current and energize the required winding of the stator at the
right time.
Trapezoidal commutation in BLDC motors
Trapezoidal (aka six-step) commutation is common in high-speed applications or when
higher starting torque is required. Trapezoidal commutation is also less costly than
other methods, due to its simple control algorithms. In most applications, the rotor
position is determined by three Hall-effect sensors that are mounted on the stator, 120
degrees apart. When the rotor passes over the sensors, they produce either a high or a
low signal to indicate which rotor pole (N or S) is passing over. The change from high to
low (or low to high) of the three Hall sensors gives rotor position information every 60
degrees, meaning that six steps are needed in order to complete one electrical cycle—
thus, the term “six-step commutation.” The correct commutation sequence is
determined from the combination of the Hall sensor signals.
Trapezoidal commutation can also be performed based on the motor’s back EMF, which
allows the elimination of Hall sensors. In a typical three-phase BLDC motor with
trapezoidal current, one winding is positive, one winding is negative, and one is open.
The open winding can be used to detect the zero-crossing point of the back EMF, which

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corresponds to what would be a signal change in a Hall sensor. However, the back EMF
is proportional to motor speed. This means that at very slow speeds (and especially at
startup), the back EMF will be very low, so the motor must be started in open-loop
mode until sufficient speed and back EMF are generated. At that point, the controller
can be switched to back EMF sensing for commutation.

Fig.5.1 Hall sensor signals, back EMF (ideally trapezoidal), torque ripple (every 60
degrees), and phase current for a BLDC motor.

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5.4 CIRCUIT DIAGRAM/BLOCK DIAGRAM

Fig. 5.2 Block Diagram of speed control of BLDC motor

Fig. 5.3 Simulation Diagram of speed control of BLDC motor

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5.5 SPECIFY MODEL PARAMETERS

5.5.1 Permanent Magnet Synchronous Motor

5.5.2 Bus Selector

1. Double click the bus selector and by using mouse select the signal-1 and signal-2
from the selected signals and remove these signals
2. Now connect the bus selector to output of the motor m
3. Then double click it, a dialog box opens, by using mouse select all the parmeters
from the left side and click the select icon and apply the changes

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4. Select one more bus selector, connect it to output(m) to the mootr and select output
signals as hall effect h_a, hall effect h_b, hall effect h_c

5.5.3 Commutation Logic

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5.5.4 Inport

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5.5.5 NOT Gate
In commutaion logic AND gate or NOT gate can be selected ftom the logical operator
block and change accordingly.

5.5.6 Demux

5.5.7 Sum

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5.5.8 Mux

5.5.9 Outport

5.5.10 How to create a subsystem

As a model increases in size and complexity, you can simplify it by grouping blocks into
subsystems. A subsystem is a set of blocks that you group into a single Subsystem block.
1. Select all the constucted blocks
2. Right click the selection
3. Click create subsystem from selection
4. Rename the subsystem to commutation logic

Step-1 Step-2&3

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Step-4
5.5.11 How to create Gate pulse

5.5.12 Compare to zero

5.5.13 Inverter
By using universal bridge we can make inverter

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5.5.14 Controlled Voltage Source

5.5.15 PID Controller

5.5.16 To workspace

Change the variable name according to the output. In the above diagram the to
workspace is connected to speed so here we declared as N
5.6 PROCEDURE:
1. Make the connections as shown in the diagram by using MATLAB Simulink
2. Enter the rated values of the particular element
3. Draw the respective wave forms

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Commutation Logic

Seq. Position Phase Switch Closed

Number Sensors Voltages
Number H1 H2 H3 Ea Eb Ec Q1 Q2 Q3 Q4 Q5 Q6
1 0 0 0 0 0 0 0 0 0 0 0 0
2 0 0 1 0 -1 1 0 0 0 1 1 0
3 0 1 0 -1 1 0 0 1 1 0 0 0
4 0 1 1 -1 0 1 0 1 0 0 1 0
5 1 1 0 1 0 -1 0 0 0 0 0 1
6 1 0 1 1 -1 0 1 0 0 1 0 0
7 1 1 0 0 1 -1 0 0 1 0 0 1
8 1 1 1 0 0 0 0 0 0 0 0 0

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5.7 MODEL CHARACTERISTICS:

5.8 SIMULATION RESULTS:

Open Loop Speed Control Closed Loop Speed Control
Inverter controlled input voltage source

Speed wave form

Torque Vs Speed Characteristics

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Fig. 5.4 Hall sensor signal of A phase winding

Fig.5.5 Hall sensor signal of B phase winding

Fig. 5.6 Hall sensor signal of B phase winding

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Fig. 5.7 Back emf of A phase winding

Fig. 5.8 Back emf of B phase winding

Fig. 5.9 Back emf of C phase winding

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Fig. 5.10 Stator Current of A phase winding

Fig. 5.11 Stator Current of B phase winding

Fig. 5.12 Stator Current of C phase winding

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Fig. 5.13 Inverter Input Controlled Voltage

Fig. 5.14 Closed loop speed

Fig. 5.15 Closed loop Electromagnetic torque

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5.9 RESULTS & CONCLUSIONS:
RESULTS:

CONCLUSIONS:
Maximum speed of the motor:
Maximum electromagnetic Torque:
Settling time of the speed:

Lab Report
Include the following results in your report
1. Run the simulation shown in Fig. 3.3 and print out the waveforms as per the format
shown in Fig. 3.4 to 3.17 (in the label insert your JNTU Number)
5.10 LAB VIVA QUESTIONS:
1. What are the advantages of BLDC motor?
2. List the applications of BLDC motor.
3. What are the limitations of BLDC motor speed control?
4. What are the drawbacks of BLDC motors?
5. Write EMF equation of PMSM?
6. What is difference between PMSM and BLDC motor?
7. What are the advantages of closed loop operation of electrical drive?
8. Draw speed torque characteristics of PMSM.
9. What is need of PI and PID controller?
10. What is the voltage constant?
11. What is the torque constant?
12. What is the difference between Wye and Delta windings?
13. What happens when voltage is increased?
14. If you have two different input voltages and the same torque, what happens to the
current and why?
15. List any Differences between dc motor and bldc motor.

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