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A dynamic analysis of BLDC motor by using Matlab/Simulink and mathematica

Conference Paper · October 2017

DOI: 10.1109/CHILECON.2017.8229540

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 A Dynamic Analysis of BLDC Motor by Using
Matlab/Simulink and Mathematica
Güner TATAR Kenan TOKER Necibe Füsun Oyman Hayriye KORKMAZ
SERTELLER/IEEE Member IEEE Member
Institute of Pure and Applied Department of Electrical & Department of Electrical & Department of Electrical &
Science in Electrical & Electronic Engineering Electronic Engineering Electronic Engineering
Electronic Engineering Faculty of Technology Faculty of Technology Faculty of Technology
Marmara University Marmara University Marmara University y Marmara University
Istanbul, TURKEY Istanbul, TURKEY Istanbul, TURKEY Istanbul, TURKEY
gunertatar@marun.edu.tr ktoker@marmara.edu.tr fserteller@marmara.edu.tr hkorkmaz@marmara.edu.tr

Abstract—This paper studies the dynamic performance of Recent advances both in semiconductor devices used in
BLDC motor with MatLab/ Simulink, and the results of torques power electronics and software packages (computer programs)
and speeds are verified with Mathematica software. MatLab/ enables the BLDC motor to operate more accurately and
Simulink provides suitable environment for control application efficiently. Especially improvements in computer technology
and power electronic design, whereas Mathematica is better for have widened the limits of the BLDC motor performance.
symbolic part and therefore it could be preferred for design and These advances are resulted in a plenty of computer programs
control applications for electrical motors. By integrating these to solve accustomed and actual problems. These programs use
programs’ features provides a better dynamic analysis when the computer’s increased computational capabilities and assist
predicting the precise value of torque and speed, determined by
in the design, development and control of complex systems in
waveforms of back-emf. The simulation results show that
matter of minutes. For solving complex mathematical
verifying the performance of BLDC motor with Mathematica
software gives the more accurate values in current, torque and equations or modelling and analyzing a system, many
speed calculations. software packages are used both in industry and in academic
studies. However, MatLab is the most used one among the
Keywords—MatLab; Mathematica; Brushless Direct Current others [11].
Motor; Back Electro Motive Force; Hall Effect Sensors. This paper introduces not only the detail of the control of
BLDC motor by using MatLab Simulink environment and it
I. INTRODUCTION also dials with verifying the results of torque and speed
characteristic of BLDC by using Mathematica.
BLDC motors, which are called Permanent Magnet Direct
Current (DC) Synchronous motors or electronically commuted The BLDC motor operates in many modes (phases), but
motor, gaining popularity rapidly, mainly because of their the most common and popular is the 3-phase. These motors
better characteristics and performance on the other electrical are constructed with their drive unit, stator windings,
motors [1]-[5]. Due to importance of this motor, there is permanent magnets located on the rotor and hall sensors [7].
continuing trend to improve the control schemes to enhance Figure 1 shows the simple electrical circuit diagram of the 3-
the performance of the motor [6]-[9]. In BLDC motor, the phase BLDC motor drive unit together with windings.
stator windings are energized in sequence to commutate and to
rotate the motor. There are no brushes on the rotor, the
commutation performed electronically depending on the rotor
position. The stator phase windings are inserted in the slots or
wounded as one coil on the magnetic pole. There is no
physical contact whatsoever between the stator and the rotor.
The polarity reversal is performed by semiconductors
switches, which are to be switched in synchronization with the
rotor position. Another vital part of the BLDC is the hall
sensor(s); these sensors are systematically located to the rotor
[6],[10].
In this study, the model built in MatLab is also based on
the principle of Hall Effect sensors. On the other hand, the
model built in Mathematica is based on the principle of
trapezoidal and sinusoidal back emf function’s effect. Fig. 1. Circuit diagram of the 3-phase BLDC motor drive unit together with
windings [9].

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 The drive unit regulates the switching of the DC supply combination of inertia and damping terms. Equation (7)
voltage to the stator windings. While the components of the represents the mechanical equations for electrical drive and (8)
motor drive units are not being modelled in this simulation, represents the relation between rotor position and angular
the effects of the switching action are taken into account. Each speed.
armature phase conducts with either positive or negative
polarity of 120 electrical degrees in a sequence manner to dω
cause motor rotation. This sequenced operation is performed J = Te − B ω − TM (7)
dt
electronically at a certain rotor position. It is important to
dθ P
know the rotor position (pole signs of the windings for = ω (8)
previous condition) to energize stator windings in the next dt 2
stage. For every sequence, naturally, two windings are
energized but the third one is not. The voltages applied Here, Te is the produced electromagnetic torque which is
( UA0,UB 0,UC 0 ) to stator windings are shown in Fig.1. transferred to the motor shaft in Nm , J is inertia moment
The stator winding is wound as a coil on the magnetic in kgm2 , B is friction coefficient in ( Nm s ) , P is the number of
pole. The magnetization of the permanent magnets and poles, and TM is load torque. Moreover, the total
displacement of them on the rotor are chosen in a way that
back emf is trapezoidal [12]-[15]. In this respect, while electromagnetic torque Te in Nm can be expressed in (9);
permanents magnets rotate, the conductors remain stationary.
Rotor position is sensed by using Hall Effect sensors. Most
BLDC motors have three hall sensors [15]. In sensored BLDC ( ea0 I a + eb0 Ib + ec0 Ic )
motor, the sensors are positioned so that they change state Te = (9)
ω
when it is time commutation to occur. The equations of three-
phase BLDC motor obtained from the equivalent circuit are;
It should be noted that in each simulation step, phase
voltage states are analyzed with respect to the rotor angle
position in order to determine whether the voltages are
Va 0 = Ra I a + La ( dI a / dt ) + ea 0 (1) positive, negative, or zero. When the stator phase is switched
Vb 0 = Rb Ib + Lb ( dI b / dt ) + eb 0 (2) off during the configured switching sequence of the drive unit,
the current in that phase was assumed as to decay rapidly to
Vc 0 = Rc I c + Lc ( dI c / dt ) + ec 0 (3) zero and have a negligible effect on the torque production
[13],[15].
Where Va 0 ,Vb0 ,Vc 0 are the stator voltages in Volts per phase;
I a , Ib , Ic are the stator currents in Ampere per phase; II. SIMULATION MODEL DEVELOPMENT

La , Lb , Lc are motor self-inductances in Henry per When a BLDC motor rotates, each winding generates a
voltage which is known as back emf, opposes the main
phase; Ra , Rb , Rc are respective motor stator resistances in voltage supplied due to Lenz’s law. Polarity of back emf is in
ohms per phase; and since each winding is located by 120 cross direction of the energized voltage. Three factors cause
degrees apart from each other, ea 0 , eb 0 , ec 0 are the respective back emf:
back emf which is expressed in (4), (5), (6). • Angular velocity of the motor
• Magnetic field generated by rotor magnets
• The number of turns in the stator windings
ea 0 = K e ω f (θ ) (4)
2π While the motor is operating, the rotor’s magnetic field
eb 0 = K e ω f (θ − ) (5) and the number of turns in the stator windings remain
3 constant. The only factor that affects the back emf is the
2π angular velocity or rotor speed. As the speed increases, back
ec 0 = K e ω f (θ + ) (6)
3 emf increases as well. The potential difference across a
winding can be described by subtracting the back emf value
from the DC supply voltage for per phase. While the motor is
Where K e is the motor voltage constant in working at the rated speed, the potential difference between
(Volt / rad .s ) ,
−1
ω is angular speed (rpm) of the motor, back emf and the DC supply voltage will be adequate for the
motor to draw the rated current and distribute rated torque.
θ rotor position angle, f ( θ ) is back emf function of rotor The principle of BLDC motors is to energize the phase pairs
position. In the model developed in Mathematica, an ideal to produce constant torque Te used in (7) and (9).
trapezoidal and sinusoidal waveform profile was preferred.
First, a brief description is given then simulation results
Another relationship necessary for a complete model of the demonstrate the ability of this software. In BLDC motor
BLDC is the equation of mechanical motion, which relates the driver, six switches are used. Fig. 2 shows the driving
developed torque of the motor to the load torque and a schematic in MatLab/Simulink. After running the simulation,

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applied voltage is sent to Simulink via six gates as input. The
Model of BLDC Motor that is implemented in Simulink is
shown in Fig. 2. It consists of several separate blocks such as
position estimation block, decoder block which changes hall
signals into six gates. Outputs of the system are
electromagnetic torque and speed [16]-[18].
Fig. 2. The Simulink Model of BLDC Motor
important priory to give precise value of motor parameters to
BLDC motor driver system since they are directly related to
back emf and torque [11]-[15]. The knowledge of rotor
position is necessary to energize stator winding in the correct
sequence. So that electrically commutation has to be done
[16].
III. SIMULATION RESULTS
BLDC Motor designed specifications (see in Fig. 2) is
given in the Table I. According to Simulink model of BLDC,
motor, trapezoidal back-emf simulation results are presented
in Fig. 3. to Fig. 5; the sinusoidal back-emf simulation results
is given from Fig. 6. to Fig. 8. Fig. 3 shows speed (rpm)
versus time (s) characteristic, which is set at 2500 rpm at no
load and loaded at 0.15 second by 0.1 Nm. Pulsating torque of
BLDC motor is also shown in Fig. 3. Fig. 4 shows
electromagnetic torque produced in motor.
W rpm
Rotor Speed
3000

2500
2000
To demonstrate the efficiency and effectiveness of the 2000

Simulink model’s results, Mathematica is used successively. 1500

1500

S peed (RP M )
Equations from (1) to (9) have formed and developed in 1000

Mathematica to control the torque and speed parameters of 500

1000

BLDC motor. The back-emf voltage that has function of 500

trapezoidal and sinusoidal is important. Because they are
0

directly proportional with speed and electromagnetic torque -500

0 0.05 0.1 0.15
Time
0.2 0.25 0.3 0.35
ts
0.05 0.10 0.15 0.20 0.25 0.30
symbolized by f (θ ) in (4), (5), (6). Expressions of (a) (b)
ea 0 , eb 0 , ec 0 are formed back emf function in Mathematica by Fig.3. Rotor Speed-Time characteristic for trapezoidal back-emf (a) in
Simulink, (b) in Mathematica.
using software own features given in appendix. The used
values of motor parameters in simulation are listed in Table 1. T Nm
Electromagnetic Torque-Time Characteristic 0.4
In Mathematica, changing any motor parameters in design and 0.3

effects of them on torque ripple and speed is studied. This 0.25

0.3
feature can be very useful in analysis of torque and speed 0.2

ripple reduction solution. 0.15

T orqu e V alue

0.2
0.1

TABLE I. SPECIFICATIONS FOR BLDC MOTOR MODELLING 0.05

0.1
Specification 0

-0.05 0.0 ts
Parameters Value Unit 0 0.05 0.1 0.15
Time
0.2 0.25 0.3 0.35
0.05 0.10 0.15 0.20 0.25 0.30

(a) (b)
V (Applied Voltage) 30 V
Fig.4. Electromagnetic torque for trapezoidal back-emf (a) in Simulink, (b) in
P (Poles of the Motor) 4 -
Mathematica
Motor Phases ~ 3 -
Rs (Stator Phase Resistance) 4.98 ohm 3
Stator Current-Time Characteristic
15
Stator Back EMF-Time Charactersitic

Ls (Stator Phase Inductance) 5.05e-3 H ( Henry )

2.5
10

J 15.17e-6
(Inertia) kgm2 1.5 5
B a c k e m f V alu e
C u rre n t V a lu e

B (Friction Factor) 1e-6 Nms

1
0

0.5

Ke (back emf coefficient) 56.23e-6 −1

V / ( rad . s ) 0 -5

0.1124
-0.5

KT (Torque Constant) Nm / A -1
-10

TM (Load Torque) 0.1 Nm -1.5 -15

0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
Time Time

θ (Rotor Initial Position) 0 degree

(a) (b)
According to the motor parameters mentioned above, the Fig.5. Stator current and back emf for trapezoidal back-emf (a) Stator current,
simulation experiments of control systems are conducted. It is (b) Back emf value.

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 The Figure 5, which is for the trapezoidal back-emf shows The Figure 9 shows emf model for one phase ea for
stator current, and emf for the one phase of BLDC motor. It Sinusoidal back-emf in Simulink. In this figure, w value was
can be seen that after the motor loaded at 0.15 second by 0.1 taken from rotor speed (rpm) as given in Fig. 2. It is well
Nm, each phase generates emf depending on the increase of known that (2) must be used to get sinusoidal back emf value.
the stator current. Thanks to the developed block diagram seen in Fig. 9,
Rotor speed-time characteristic can be seen in Fig. 6. sinusoidal back-emf can be formed.
Motor has settled around to 2500 rpm under no load condition The Figure 10 shows the difference between trapezoidal
in 0.15 s. After the motor is loaded by 0.1Nm, motor speed and sinusoidal back-emfs on speed-time characteristic. From 0
was fell down in between 1500 and 2000 rpm. From the to 0.15 seconds, the difference between the two outputs is
graphs, decreasing in rotor speed for sinusoidal back-emf is shown when the rotor’s speed reaches the maximum rpm. At
less than trapezoidal back-emf under the same conditions. 0.15 s , while the sinusoidal speed is 2625 rpm, the trapezoidal
When the two back emf waveform shapes are compared, more speed is 2512 rpm. The motor speed reaches 4.30 % higher
fringing factor exists on the electromagnetic torque waves for rpm value for sinusoidal back-emf. After loading in the 0.15
Sinusoidal rather than trapezoidal as can be seen in Fig. 7. seconds, both speeds drop. While the sinusoidal speed is
decreasing to 1787 rpm, the other decreases to 1553 rpm. The
At time 0, the stator current rises due to the moment of the sinusoidal speed reaches 9.23% higher rpm value than
first motor take-off. Between 0.05 to 0.15 seconds, the motor trapezoidal again.
is operating at nominal values with no load. After the 0.15
second, the motor is loaded with 1Nm as seen in Fig. 8. Both sinusoidal and trapezoidal functions show exactly the
same behavior for electromagnetic torque as seen in Figure 11
3000
Rotor Speed w rpm
under no load condition. Yet, after the motor is loaded at 0.15
2500
2500 seconds, both functions generate nearly the same
2000 electromagnetic torque. The average of two signals is the
2000
1500 same. However, there is a slight difference between these
S peed (RP M)

1000
1500
functions at rippling. In addition, the electromagnetic torque
500 1000 which is generated from trapezoidal back-emf has more
0
500
harmonic values under the same conditions.
-500
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
Time t
0.05 0.10 0.15 0.20 0.25 0.30
(a) (b)
Fig.6. Rotor Speed-Time characteristic for Sinusoidal back-emf (a) in
Simulink, (b) in Mathematica

T Nm
Electromagnetic Torque-Time Characteristic
0.3
0.5
0.25

0.4
0.2

0.3
Fig.9. Emf model for one phase ea for Sinusoidal back-emf in Simulink.
0.15
Torqu e V alue

0.1 0.2

0.05
0.1
0

0.0 t
-0.05
0.1 0.2 0.3 0.4 0.5
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
Time
0.1
(a) (b)
Fig.7. Electromagnetic torque for Sinusoidal back-emf (a) in Simulink, (b) in
Mathematica

Stator Current-Time Characteristic Stator Back EMF-Time Charactersitic

3 25

2.5 20

15
2

10
1.5

5
Back emf Valu e
C urrent Value

0.5
-5

0
-10

-0.5
-15

Fig.10. Comparison of rotor speeds for sinusoidal and trapezoidal back-emf

-1 -20

signals.
-1.5 -25
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
Time Time

Fig.8. Stator Current and back emf for Sinusoidal back-emf

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Fig.11. Comparison of electromagnetic torque for sinusoidal and trapezoidal
back-emfs.
IV. CONCLUSION
The study discusses some important experiences and
computational results for driving and controlling of BLDC
motor by using MatLab/Simulink. Besides, the results are
verified by using features of Mathematica software. Simulink
is powerful enough in control strategies with limited features;
on the other hand Mathematica is a symbolic computational
program and very powerful for solving and modelling
differential equation of electric motor with no limitation.
Integrating these two programs’ features provides a better
dynamic analysis for prediction of precise value of torque and
speed parameters, determined by waveforms of back-emf. The
simulation results show that verifying the performance of
BLDC motor with Mathematica software gives values that are
more accurate in current, torque and speed calculations. The
models can be also used effectively for educational purposes.
Appendix:
Back emf (Trapezoidal) functions:
fab[θ_,t_]:= Clip[(6/Pi )Sin[ 4θ[t]]]];
fbc[θ_,t_]:= Clip[(6/Pi )Sin[4θ[t]-(2
Pi)/3]];
fca[θ_,t_]:=Clip[(6/Pi)Sin[4θ[t]+(2
Pi)/3]];
Back emf (Sinusoidal) functions:
fab[θ_,t_]:=Sin[4θ[t]]];
fbc[θ_,t_]:=Sin[4θ[t]-(2 Pi)/3]];
fca[θ_,t_]:=Sin[4θ[t]+(2 Pi)/3]];
ea0=Ke fab[θ,t] ‫;]ݐ[ݓ‬
eb0=Ke fbc[θ,t] ‫;]ݐ[ݓ‬
ec0=Ke fca[θ,t] ‫;]ݐ[ݓ‬
TL[t_]:=If[t<0.15,0.,0.15];
ACKNOWLEDGMENT
This work has been supported by Scientific Research
Project Unit of Marmara University (BABKO) Project No
FEN-C-YLP-100216-0049.
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