MODELING AND SIMULATION OF BLDC MOTOR USING MATLAB GUI

Chapter-1
1.1 Introduction

The Brushless Direct Current (BLDC) motor is rapidly gaining popularity by its utilization in
various industries, such as Appliances, Automotive, Aerospace, Consumer, Medical, Industrial
Automation Equipment and Instrumentation. As the name implies, the BLDC motors do not use
brushes for commutation; instead, they are electronically commutated. The BLDC motors have
many advantages over brushed DC motors and induction motors [1]. A few of these are:

• Better speed versus torque characteristics

• High dynamic response
• High efficiency
• Long operating life
• Noiseless operation
• Higher speed ranges

In addition, the ratio of torque delivered to the size of the motor is higher, making it useful in
applications where space and weight are critical factors [2]. The torque of the BLDC motor is
mainly influenced by the waveform of back-EMF (the voltage induced into the stator winding due
to rotor movement). Ideally, the BLDC motors have trapezoidal back-EMF waveforms and are fed
with rectangular stator currents, which give a theoretically constant torque. However, in practice,
torque ripple exists, mainly due to emf waveform imperfections, current ripple and phase current
commutation. The current ripple result is from PWM or hysteresis control. The emf waveform
imperfections result from variations in the shapes of slot, skew and magnet of BLDC motor, and are
subject to design purposes. Hence, an error can occur between actual value and the simulation
results. Several simulation models have been proposed for the analysis of BLDC motor [1], [4], [5].
One of the models has a real back-EMF waveform whose appearance is close to a sinusoidal shape.
This paper attempts to compare various types of BLDC motor models - with the trapezoidal and
sinusoidal back-EMF waveforms. The simple motor model of a BLDC motor consisting of a 3-
phase power stage and a brushless DC motor is shown in Fig. 1.

EEE, BEC, Bagalkote 1

 MODELING AND SIMULATION OF BLDC MOTOR USING MATLAB GUI

Figure 1.BLDC Motor Model of Electrical Circuit.[1]

During the last decade, classical and modern control system design methods, involving advanced
mathematical techniques and time-consuming calculations have been greatly aided by software
packages such as MATLAB/SIMULINK, SPICE, EMTP, SABER, SPECTRE, SIMPLORER, etc.,
which can provide accurate predictions of the systems behaviour in reality. In recent years, BLDCM
has become a popular choice in industry applications such as automotive, aerospace, consumer,
medical, instrumentation. BLDCM have advantages over brushed DC motors and induction motors.
They have better speed versus torque characteristics, high efficiency, high dynamic response and so
on. Also, torque delivered to the motor size is higher, making it useful in applications where space
and weight are critical factors. However, BLDCM need position information for torque producing.
The position information is usually obtained via measurement using device such as position
encoder, resolver or Hall Effect sensors. These devices increase machine size, cost and rotor inertia,
additionally also make the drive system complex and mechanically robustness.

A three phase BLDCM has three phase windings on the stator and permanent magnet rotor. The
difference between this machine and the Permanent Magnet Synchronous Motor (PMSM) is that the
machine back EMF is trapezoidal. Some confusion exists as to the correct models that should be

EEE, BEC, Bagalkote 2

 MODELING AND SIMULATION OF BLDC MOTOR USING MATLAB GUI

used in each case. The BLDCM is very similar to the standard wound rotor synchronous machine
except that the BLDCM has no damper windings and excitation is provided by a permanent magnet
instead of a field winding.

1.2.Literature survey
[1]. K. Ranjani and M. Sreejeth, “BLDCM Control System Simulation in MATLAB/
SIMULINK”, Developments in Electric Vehicles and Energy Sector for Sustainable Future (PECCON),
Chennai, India, 2022, pp. 1-6, doi: 10.1109/PECCON55017.2022.9851110.

This paper provides a comprehensive exploration of speed regulation in brushless DC (BLDC)

motors using advanced control techniques

Control Techniques

● Proportional-Integral-Derivative (PID) Control: Studies have shown the effectiveness of PID

control in managing the speed and torque of BLDC motors, often implemented in Simulink for
real-time simulations.

● Fuzzy Logic Control: Research indicates that fuzzy logic controllers can handle nonlinearities
and uncertainties in BLDCM control effectively, often resulting in improved performance.

● Sliding Mode Control (SMC): SMC is robust against parameter variations and external
disturbances. Several papers have demonstrated its implementation in Simulink, highlighting its
effectiveness in maintaining motor stability.

● Model Predictive Control (MPC): Recent studies explore MPC for optimizing performance by
predicting future states of the motor, with simulations illustrating enhanced responsiveness and
efficiency.

Simulation Model

● Mathematical Modeling: Many studies focus on creating accurate mathematical models of

BLDC motors, incorporating electrical and mechanical dynamics. These models are often
implemented in Simulink using state-space representations.

● Simulation Results: Various research articles present simulation results comparing the
performance of different control strategies, including response time, stability, and efficiency.

EEE, BEC, Bagalkote 3

 MODELING AND SIMULATION OF BLDC MOTOR USING MATLAB GUI

[2] 1 st Ashwini Yenegur 2nd M Sasikala Department of EEE Faculty of Engineering and
Technology (Exclusively for women) Sharnbasva University [email protected].
“Modeling and simulation of BLDC motor for electric tractor application”

The topic of modeling and simulation of brushless Dc (BLDC) motors, particularly for electric
tractor applications, is an emerging area research

BLDC Motor Characteristics

● Efficiency: BLDC motors exhibit high efficiency, especially at varying load conditions, making
them suitable for agricultural applications where energy efficiency is crucial.

● Torque Characteristics: They provide high starting torque and maintain performance under heavy
loads, which is essential for tasks like plowing and hauling.

Modeling Approach

● Mathematical Modeling: The mathematical model of a BLDC motor includes electrical

equations (voltage, current, and back EMF) and mechanical equations (torque and rotational
dynamics). State-space representations are often utilized for better analysis and control.

● Simulink Model: The Simulink environment allows for the integration of various components,
such as the motor, control algorithms, and power electronics. The model can simulate the
dynamic response of the motor under different operating conditions.

Control Strategies

● Speed Control: Techniques like PID control and vector control are implemented to manage the
speed of the BLDC motor effectively.

● Torque Control: Advanced control strategies ensure optimal torque delivery, critical for
applications requiring precise movement and load handling.

● Simulation of Control Algorithms: Various algorithms are tested in Simulink to evaluate their
performance in maintaining desired speed and torque profiles.

Simulation Results

● Dynamic Performance: Simulation results typically showcase the transient response of the
BLDC motor during acceleration, deceleration, and under load changes.

● Efficiency Analysis: Comparative studies highlight efficiency gains achieved through optimal
control strategies and their impact on overall tractor performance.

EEE, BEC, Bagalkote 4

 MODELING AND SIMULATION OF BLDC MOTOR USING MATLAB GUI

Applications in Electric Tractors

● Agricultural Operations: The modeling and simulation findings are relevant for tasks such as
tilling, planting, and transporting materials, demonstrating the practical application of BLDC
motors in modern farming.

● Battery Integration: The simulations also consider battery management systems, optimizing
energy consumption and extending operational time for electric tractors.

Challenges and Future Directions

● Thermal Management: Managing the heat generated in the motor during prolonged operations is
a key challenge that requires further research and simulation.

● System Integration: Future work could focus on the integration of the BLDC motor with other
systems like GPS and IoT for advanced precision farming.

● Cost Considerations: The economic feasibility of electric tractors powered by BLDC motors is
an area needing exploration to promote widespread adoption.

[3]. Araştırma Makalesi, Avrupa Bilim ve Teknoloji Dergisi Özel Sayı 42, S. 6-13, Ekim 2022 ©
Telif hakkı EJOSAT’a aittir “Simulation of BLDC Motor Drive Systems for Electric Vehicles
Using Matlab Simulink”. (2nd International Conference on Engineering and Applied Natural
Sciences ICEANS 2022, October 15 - 18, 2022) (DOI: 10.31590/ejosat.1190197)

The simulation of Brushless Direct Current (BLDC) motor drive systems for electric
vehicles (EVs) using MATLAB Simulink is a critical area of research that enhances the
design and optimization of electric propulsion systems. This simulation approach allows
for the modeling of various control strategies and performance evaluations, which are
essential for developing efficient and sustainable electric vehicles

BLDC Motor Fundamentals

● induction, with a rotor that moves in response to the magnetic fields generated by the stator
windings.

● Advantages: Key advantages include high efficiency, improved thermal performance, and the
Operating Principles: BLDC motors operate on the principle of electromagnetic absence of
brushes, which reduces wear and increases reliability.

EEE, BEC, Bagalkote 5

 MODELING AND SIMULATION OF BLDC MOTOR USING MATLAB GUI

Modeling of BLDC Motors

● Mathematical Model: The BLDC motor is modeled using a combination of electrical and
mechanical equations. The electrical model typically includes voltage equations, while the
mechanical model focuses on torque and rotational dynamics.

● Simulink Implementation: The motor model is implemented in Simulink, allowing for dynamic
simulation under various operating conditions and load profiles relevant to EV applications.

Control Strategies

● PWM Control: Pulse Width Modulation (PWM) is commonly used for controlling the voltage
supplied to the motor, enhancing efficiency and responsiveness.

● Field-Oriented Control (FOC): FOC allows for independent control of torque and flux, providing
improved performance and dynamic response, particularly during acceleration and
deceleration.

● Simulation of Control Algorithms: Various control strategies are tested in the Simulink
environment to assess their effectiveness in achieving desired speed and torque characteristics.

Simulation Results

● Dynamic Performance Analysis: Simulation results demonstrate the BLDC motor's performance
during different driving scenarios, including acceleration, cruising, and braking.

● Efficiency Metrics: Studies typically evaluate efficiency across various load conditions,
emphasizing the potential for energy savings in EV applications.

● Thermal Performance: Simulations can also include thermal models to analyze the heat
generation and management within the motor, crucial for ensuring reliability during prolonged
operation.

Applications in Electric Vehicles

● Powertrain Integration: The BLDC motor drive system is integrated into the overall EV
powertrain, including battery management systems and regenerative braking, to optimize
energy utilization.

● Real-World Scenarios: Simulations often include real-world driving cycles (e.g., WLTP, EPA) to
assess performance in realistic conditions, ensuring that the drive system meets regulatory and
user expectations.

EEE, BEC, Bagalkote 6

 MODELING AND SIMULATION OF BLDC MOTOR USING MATLAB GUI

Challenges and Future Directions

● Complexity of Control Systems: As control strategies become more advanced, the complexity of
the system increases, necessitating robust simulation and testing environments.

● Market Considerations: Economic feasibility and cost-effectiveness of BLDC motors in EVs

remain areas for further research, particularly in relation to battery technologies.

● Integration with Emerging Technologies: Future simulations may explore the integration of
BLDC motors with autonomous driving technologies and smart grid systems.

[4] Saravanakumar M1, Adhithya Mannan M. .B2 , Vinothini R2 , Gurusamy M2, “Modeling
and Simulation of Cost Effective Sensor Less BLDC Motor Drive for Electric Vehicle
Applications” International Journal of Trend in Scientific Research and Development
(IJTSRD) ISSN: 2456-6470.

Brushless DC Motors (BLDC) drives are nowadays widely used for various purposes in
consumer products and industrial applications. It is attracting much interest due to its high
efficiency, high power factor, high torque, simple control, and lower maintenance.

Sensor less Control Techniques:

Various sensorless control techniques have been explored in the literature. The back
electromotive force (back EMF) method is one of the prominent approaches. This method
eliminates the need for physical sensors by using the back EMF generated in the motor
windings to determine the rotor position. This is particularly beneficial in reducing the overall
size and cost of the motor system, as highlighted in the proposed paper [4].
Efficiency Improvements:
\The elimination of mechanical commutation and the use of sensor less control methods have
been shown to improve the overall efficiency of BLDC motors. The literature indicates that
these advancements can lead to better performance in electric vehicles, making them more
viable for widespread adoption.
Challenges and Future Directions:
While sensorless control methods offer many advantages, challenges remain, such as the need
for accurate back EMF detection under varying load conditions. Future research is likely to
focus on improving the robustness of these methods and exploring new algorithms for better
performance in real-world applications.

EEE, BEC, Bagalkote 7

 MODELING AND SIMULATION OF BLDC MOTOR USING MATLAB GUI

Chapter 3

Summary of literature survey

The introduction of the paper "Simulation of BLDCM Control System Built on Matlab/Simulink"
outlines the significant advancements in various technologies that have contributed to the
development of brushless DC motors (BLDCM) and their control systems.

Advancements in Control Techniques: The survey discusses various control techniques that
have been developed for BLDC motors, emphasizing the importance of precise speed control.
It highlights the evolution from traditional methods to more advanced strategies, such as the
double closed-loop control approach, which is the focus of this paper.
Modeling and Simulation: The literature emphasizes the significance of accurate modeling
and simulation in understanding the dynamics of BLDC motors. Previous studies have utilized
different simulation platforms, but the paper specifically advocates for MATLAB/SIMULINK
due to its robust capabilities in simulating complex control systems.
Performance Analysis: The survey reviews performance metrics used in previous research,
such as response time, stability, and efficiency of control systems. It notes that many studies
have shown improvements in these metrics through the implementation of advanced control
strategies, including PI controllers.
Challenges and Limitations: The literature also addresses the challenges faced in the control
of BLDC motors, such as the static difference in steady-state performance. The survey points
out that while many control methods have been proposed, there is still a need for improvements
to eliminate these issues effectively.
Theoretical and Practical Significance: Finally, the literature survey concludes by
highlighting the theoretical and practical significance of the research. It suggests that the
advancements in control technology not only

EEE, BEC, Bagalkote 8

 MODELING AND SIMULATION OF BLDC MOTOR USING MATLAB GUI

Chapter 4

Problem statement
The problem statement in the paper "Simulation of BLDCM Control System Built on
Matlab/Simulink" addresses several key challenges associated with the control of brushless DC
motors (BLDCM). The main issues identified include:

Need for Precise Speed Control: One of the primary challenges is achieving precise speed
control in BLDC motors. Traditional control methods often struggle to maintain consistent
speed under varying load conditions, leading to performance issues in applications that require
high reliability and accuracy

Static Difference in Steady State: The paper highlights the problem of static difference in the
steady state of the motor. This issue can result in discrepancies between the desired and actual
speed, which can affect the overall performance and efficiency of the motor system. The need
to eliminate this static difference is a significant focus of the research.

Complexity of Control Systems: The complexity of designing effective control systems for
BLDC motors is another challenge. Many existing control strategies may not provide the
desired performance or may be too complicated to implement in practical applications. The
paper aims to simplify the control structure while ensuring fast response times.

Integration of Advanced Technologies: With the rapid advancement in electronic and

computer technologies, there is a growing need to integrate these technologies into motor
control systems. The paper seeks to leverage modern tools like MATLAB/SIMULINK to
develop and simulate effective control strategies that can address the aforementioned
challenges.

Theoretical and Practical Gaps: Finally, the paper identifies gaps in both theoretical
understanding and practical applications of BLDC motor control. There is a need for further
research to bridge these gaps, ensuring that the developed control strategies are not only
theoretically sound but also applicable in real-world scenarios.

EEE, BEC, Bagalkote 9

 MODELING AND SIMULATION OF BLDC MOTOR USING MATLAB GUI

Chapter 5

Objectives
The paper "Simulation of BLDCM Control System Built on Matlab/Simulink" outlines several key
objectives aimed at improving the control of brushless DC motors (BLDCM). These objectives
include:

Development of a Control Model: One of the primary objectives is to establish a

comprehensive model of the brushless DC motor. This involves mathematical analysis and the
formulation of a simulation model that accurately represents the motor's behavior under various
conditions [6].

Implementation of Double Closed-Loop Control: The paper aims to implement a double

closed-loop control strategy for regulating the speed of the BLDC motor. This approach is
intended to enhance the responsiveness and stability of the motor control system, addressing
the challenges of speed regulation in practical applications [6].

Design and Improvement of PI Controlle: A significant objective is to design and improve

the Proportional-Integral (PI) controller used in the control system. The goal is to eliminate the
static difference in the steady state, ensuring that the motor operates at the desired speed
without significant deviations [6].

Simulation and Validation: The paper seeks to utilize the MATLAB/SIMULINK platform to
simulate the developed control system. This objective includes validating the performance of
the control model through simulation results, demonstrating its effectiveness in achieving fast
and smooth system responses [6].

Contribution to Theoretical and Practical Knowledge: Another objective is to contribute to

both theoretical understanding and practical applications of brushless DC motor control
technologies. The research aims to provide insights that can be applied in various industrial
settings, enhancing the efficiency and performance of electric drives [6].

Exploration of Future Research Directions: Lastly, the paper aims to identify potential areas
for future research, encouraging further exploration of advanced control strategies and their
applications in improving BLDC motor performance

EEE, BEC, Bagalkote 10

 MODELING AND SIMULATION OF BLDC MOTOR USING MATLAB GUI

Chapter 6

Proposed Methodology
The paper "Simulation of BLDCM Control System Built on Matlab/Simulink" outlines a systematic
methodology for developing and simulating a control system for brushless DC motors (BLDCM).
The proposed methodology includes the following key steps:

Introduction to Brushless DC Motor Principles: The methodology begins with an

introduction to the fundamental principles of brushless DC motors. This foundational
knowledge is crucial for understanding the operational characteristics and control requirements
of the motor [6].

Model Establishment: The next step involves establishing a mathematical model of the
brushless DC motor. This model serves as the basis for further analysis and simulation,
allowing for a detailed understanding of the motor's dynamics and behavior under different
operating conditions [6].

Mathematical Analysis: Following the model establishment, mathematical analysis is

conducted to derive the necessary equations that govern the motor's performance. This analysis
helps in identifying key parameters that influence the control strategy and overall system
performance [6].

Implementation of Double Closed-Loop Control: The methodology incorporates a double

closed-loop control strategy, which is designed to regulate the speed of the BLDC motor
effectively. This control approach aims to enhance the system's responsiveness and stability,
addressing common challenges in motor control [6].

Design and Improvement of PI Controller: A significant aspect of the methodology is the

design and improvement of the Proportional-Integral (PI) controller. The focus is on
eliminating the static difference in the steady state, ensuring that the motor can maintain the
desired speed accurately [6].

Simulation Using MATLAB/SIMULINK: The final step in the methodology involves the
establishment of a simulation model on the MATLAB/SIMULINK platform. This simulation
allows for the testing and validation of the control system, providing insights into its
performance and effectiveness in achieving fast and smooth responses [6].

EEE, BEC, Bagalkote 11

 MODELING AND SIMULATION OF BLDC MOTOR USING MATLAB GUI

Analysis of Simulation Results: After running the simulations, the results are analyzed to
assess the performance of the proposed control system. This analysis helps in identifying any
areas for further improvement and validates the effectiveness of the implemented control
strategies [6].

Through this structured methodology, the paper aims to develop a robust control system for
brushless DC motors, contributing to advancements in motor control technology.

Expected outcome
The paper "Simulation of BLDCM Control System Built on Matlab/Simulink" anticipates several
key outcomes from the proposed methodology and research efforts. These expected outcomes
include:

Enhanced Control Performance: One of the primary expected outcomes is the improvement
in the control performance of brushless DC motors through the implementation of a double
closed-loop control strategy. This approach is designed to provide better speed regulation,
resulting in a more responsive and stable motor operation [6].

Effective PI Controller Design: The research aims to successfully design and refine a
Proportional-Integral (PI) controller that effectively eliminates static differences in the steady
state. This outcome is crucial for ensuring that the motor can maintain its desired speed with
minimal error, enhancing overall system accuracy [6].

Validation of Simulation Model: The establishment of a simulation model on the

MATLAB/SIMULINK platform is expected to yield validation results that demonstrate the
effectiveness of the proposed control system. The anticipated outcome is a simulation that
shows fast and smooth system responses, confirming the model's reliability and applicability in
real-world scenarios [6].

Theoretical Contributions: The research is expected to contribute to the theoretical

understanding of brushless DC motor control technologies. By providing insights into the
dynamics and control strategies, the paper aims to enhance the existing body of knowledge in
this field, which can be beneficial for future research and applications [6].

Practical Applications: The outcomes of this research are expected to have significant
practical implications in various industrial applications where brushless DC motors are utilized.

EEE, BEC, Bagalkote 12

 MODELING AND SIMULATION OF BLDC MOTOR USING MATLAB GUI

The improved control strategies and simulation results can lead to more efficient and effective
motor drives in real-world systems [6].

Foundation for Future Research: Lastly, the paper anticipates that the findings will serve as a
foundation for future research in advanced control techniques for brushless DC motors. This
outcome is aimed at encouraging further exploration and innovation in motor control
technologies, potentially leading to new developments in the field [6].

Overall, the expected outcomes of this research are geared towards advancing both theoretical
knowledge and practical applications in the control of brushless DC motors, ultimately
contributing to improved performance and efficiency in various settings.

Gantt chart
While the paper "Simulation of BLDCM Control System Built on Matlab/Simulink" does not
explicitly provide a Gantt chart, we can outline a potential timeline for the research project based on
the methodology and expected outcomes discussed in the paper. A Gantt chart is a useful tool for
visualizing the timeline of project activities and their interdependencies. Below is a suggested
breakdown of the project phases and tasks that could be represented in a Gantt chart format:

Activity Start Date End Date Duration (hrs)

Literature Review and Background Research 28-10-2024 09-11-2024 30
Model Development 25-11-2024 27-11-2024 15
Control System Design 28-11-2024 30-11-2024 15
Simulation Setup 02-12-2024 07-12-2024 15
Simulation and Testing 09-12-2024 14-12-2024 15
Results Analysis and Documentation 16-12-2024 21-12-2024 30
Final Review and Submission 23-12-2024 28-12-2024 15

EEE, BEC, Bagalkote 13

 MODELING AND SIMULATION OF BLDC MOTOR USING MATLAB GUI

Start Date
Duration(hrs)

15/09/2024 04/11/2024 24/12/2024 12/02/2025

This Gantt chart structure provides a clear timeline for the research project, allowing for effective
planning and management of tasks. Each phase builds upon the previous one, ensuring a systematic
approach to achieving the expected outcomes of the research.

EEE, BEC, Bagalkote 14