Sensor less Control of the BLDC Motors

From Near-Zero to High Speeds

ANAND KUMAR.K
 ABSTRACT

This paper presents the theory and

implementation of a novel sensorless control
technique for the brushless dc (BLDC) motor.
The proposed new sensorless drive method
solves the problem of the sensorless BLDC
motor drives at very low speeds. It provides a
highly accurate and robust sensorless operation
from near zero to high speeds. For this purpose,
an approach, a new flux linkage function is
defined, that is speed-independent. The validity
of the proposed method is verified through both
simulation and experimental results and
discussion.
 PROPOSED SENSOR LESS COLTROL METHOD

• Most popular and practical sensorless drive methods for BLDC

motors rely on speed dependent back EMF.
• Since back-EMF is zero or undetectably small at standstill and low
speeds, it is not possible to use the back EMF sensing method in
the low speed range.
• Estimated commutated points are shifted by 30(deg) from zero
crossing of back EMFs have position error in transient state.
• Practical minimum speed of conventional sensorless drive is around
10% of the rated speed.
To overcome the above drawbacks, a novel method based
on a new speed independent function is proposed.
proposed method does not rely on back-EMF; hence need of
external circuit for sensing terminal voltage has been removed.
Principle of the Proposed Method

• The general voltage equation of one of the active phases is given by

………. ( 1 )

Where is the active phase voltage

is the phase resistance
is the phase current
is the rotor position
is the total flux linkage of the active phase
n is the number of phases
• For three phase BLDC motors, the total flux linkage of phase A is

………( 2 )

Where is flux linkage due to permanent magnet that is attached

on the rotor

Based on the characteristics of the SMPM type of BLDC motors,

the flux profile can be simplified as (3) along with the following
assumptions:
1) the motor is operated within the rated condition and hence the
saturation effect due to current level is neglected;
2) the leakage inductance is negligibly small and hence neglected;
3) iron losses are negligible;

………( 3 )
Substituting (3) into (1) gives

..…….. ( 4 )

So,

………….( 5 )
For balanced wye-connected BLDC motors,
………… ( 6 )
Using (6),the (5) is simplified as

………. ( 7 )
The last term in the voltage equation is so called back EMF, and the
term is redefined as follows

……… ( 8 )

Where is the flux linkage function that is changed only by rotor

position.
The line-line voltages are as follows,

……… ( 9 )
……….( 10 )

……….( 11 )

Where ω is the instantaneous speed

is the line-line flux linkage function that is changed only by
rotor position
Now we define a new function, ,as

…… ( 12 )

…… ( 13 )

Since the , function itself has one to one relationship with rotor
position, it possible to use this function for position estimation. But the
instantaneous speed terms that is unknown for dynamic operations, is
required to calculate the function.
DERIVATION OF SPEED INDEPENDENT POSITION
FUNCTION
To eliminate instantaneous speed term ‘ω’ that cause trouble in using
the , function for position estimation. One line-line function
is divided by another line-line function, and divided new speed
independent function is named
For example,

… ………..( 16 )
 G’ FUNCTION WAVEFORM

• The standard commutation instant is when the functions are

changed from positive infinity to negative infinity as in Fig(1).
G FUNCTION AT EACH MODE
• When the function reaches a predefined threshold value, the
motor is commutated. The threshold value is defined based on the
current rising time and desired advanced angle. It is noted that the
commutation signal can be generated at the peak point that is the
most sensitive part of the function.
• Since the waveform of the function is identical at
the entire speed range, it can be characterized at steady
state in a look-up table, and used as a position reference
for sensorless operation at all speeds.
• The position is estimated by the look up table of the
characterized function.
• To control currents, a simple PI or hysteresis can be
used for the proposed sensorless method.
• The 60(deg) rotor movement is enough to detect the
commutation instant using the position estimation
equations in Table I.
• After the first detection of the commutation point, both
torque and speed control is possible using the estimated
speed from time duration of each commutation point.
SIMULATION RESULTS
DSP-BASED IMPLIMENTATION AND EXPERIMENTAL
RESULTS
ESTIMATED ERROR OF THE PROPOSED METHOD
 CONCLUTION

With the proposed method, the minimum speed of

the sensor less operation has been improved to be around
1.5% of rated speed. This technique makes it possible
detect the rotor position over wide speed range from near
zero to high speed. Also the proposed approach provides a
precise commutation pulse even in transient state because
of speed independent characteristic of the function.