974 IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, VOL. 9, NO.

2, MAY 2013

Digital Control Strategy for Four Quadrant Operation

of Three Phase BLDC Motor With Load Variations
C. Sheeba Joice, S. R. Paranjothi, and V. Jawahar Senthil Kumar

Abstract—Brushless DC (BLDC) motor drives are becoming

more popular in industrial, traction applications. This makes the
control of BLDC motor in all the four quadrants very vital. This
paper deals with the digital control of three phase BLDC motor.
The motor is controlled in all the four quadrants without any
loss of power; in fact energy is conserved during the regenerative
period. The digital controller dsPIC30F4011, which is very ad-
vantageous over other controllers, as it combines the calculation
capability of Digital Signal Processor and controlling capability of
PIC microcontroller, to achieve precise control.

Index Terms—BLDC motor, digital control, dsPIC, four quad-

rants, regenerative braking.

I. INTRODUCTION

B RUSHLESS DC motor has a rotor with permanent mag-

nets and a stator with windings. It is essentially a DC
motor turned inside out. The brushes and commutator have been Fig. 1. BLDC Motor Star connected.
eliminated and the windings are connected to the control elec-
tronics. The control electronics replace the function of the com-
mutator and energize the proper winding. The motor has less in- drive system is reviewed in Section IV. In Section V, the sim-
ertia, therefore easier to start and stop. BLDC motors are poten- ulation of four quadrant control operation of the BLDC motor
tially cleaner, faster, more efficient, less noisy and more reliable. with the results are presented. Experimental setup and the results
The Brushless DC motor is driven by rectangular or trape- are presented respectively in Sections VI and VII. Section VIII
zoidal voltage strokes coupled with the given rotor position. The concludes the proposed work.
voltage strokes must be properly aligned between the phases, so
that the angle between the stator flux and the rotor flux is kept II. FOUR QUADRANT OPERATION OF BLDC MOTOR
close to 90 to get the maximum developed torque. BLDC mo-
tors often incorporate either internal or external position sensors A. BLDC Motor
to sense the actual rotor position or its position can also be de-
Brushless DC Motors are driven by DC voltage but current
tected without sensors. BLDC motors are used in Automotive,
commutation is controlled by solid state switches. The commu-
Aerospace, Consumer, Medical, Industrial Automation equip-
tation instants are determined by the rotor position. The rotor
ments and instrumentation. This paper is organized as follows:
shaft position is sensed by a Hall Effect sensor, which provides
Section II describes the four quadrant operation of the three
signals to the respective switches [1] and [2]. Whenever the
phase BLDC motor, its features; the controller dsPIC30F4011,
rotor magnetic poles pass near the Hall sensors, they give a high
with its special features is explained in Section III. The complete
or low signal, indicating either N or S pole is passing near the
sensors.
Manuscript received November 29, 2011; revised March 24, 2012, June 17,
The numbers shown around the peripheral of the motor dia-
2012; accepted September 17, 2012. Date of publication October 02, 2012; date
of current version January 09, 2013. Paper no. TII-11-825. gram in Fig. 1 represent the sensor position code. The north pole
C. Sheeba Joice is with the Department of Electronics and Communication of the rotor points to the code that is output at that rotor position.
Engineering, Saveetha Engineering College, Chennai 602 105, India (e-mail:
The numbers are the sensor logic levels where the Most Signif-
sheebaalfred@yahoo.com).
S. R. Paranjothi is with Department of Electrical and Electronics Engineering, icant bit is sensor C and the Least Significant bit is sensor A.
Rajalakshmi Engineering College, Chennai 602 105, India. Based on the combination of these three Hall sensor signals,
V. Jawahar Senthil Kumar is with the Department of Electronics and Com-
the exact sequence of commutation can be determined. These
munication Engineering, College of Engineering, Anna University, Chennai
600025, India. signals are decoded by combinational logic to provide the firing
Digital Object Identifier 10.1109/TII.2012.2221721 signals for 120 conduction on each of the three phases. The

1551-3203/$31.00 © 2012 IEEE

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JOICE et al.: DIGITAL CONTROL STRATEGY FOR FOUR QUADRANT OPERATION OF THREE PHASE BLDC MOTOR WITH LOAD VARIATIONS 975

Fig. 2. Equivalent Circuit of power stage of BLDC motor.

Fig. 4. Operating Modes.

Fig. 3. Four Quadrants of operation.
rotor position decoder has six outputs which control the upper
and lower phase leg MOSFETs of Fig. 2 [3]–[7].
B. Four Quadrant Operation
There are four possible modes or quadrants of operation using
a Brushless DC Motor which is depicted in Fig. 3.
When BLDC motor (Fig. 4) is operating in the first and
third quadrant, the supplied voltage is greater than the back
emf which is forward motoring and reverse motoring modes
respectively, but the direction of current flow differs. When
the motor operates in the second and fourth quadrant the value
of the back emf generated by the motor should be greater
than the supplied voltage which are the forward braking and
reverse braking modes of operation respectively, here again the
direction of current flow is reversed.
The BLDC motor is initially made to rotate in clockwise di-
rection, but when the speed reversal command is obtained, the
control goes into the clockwise regeneration mode, which brings
the rotor to the standstill position. Instead of waiting for the ab-
solute standstill position, continuous energization of the main
phase is attempted. This rapidly slows down the rotor to a stand-
still position. Therefore, there is the necessity for determining
the instant when the rotor of the machine is ideally positioned
for reversal.

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 976 IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, VOL. 9, NO. 2, MAY 2013

Fig. 5. Closed Loop Drive.

Hall effect sensors are used to ascertain the rotor position and
from the Hall sensor outputs, it is determined whether the ma-
chine has reversed its direction. This is the ideal moment for en-
ergizing the stator phase so that the machine can start motoring
in the counter clockwise direction.

III. DIGITAL CONTROLLER

The digital pulse width modulation control of BLDC motor
will be efficient and cost effective [8]–[10]. The digital control
of the four quadrant operation of the three phase BLDC motor is
achieved with dsPIC30F4011. This digital controller combines
the Digital Signal Processor features and PIC microcontroller
features, making it versatile.
The controller has a modified Harvard architecture, with a
16 16 bit working register array. It has two 40 bit wide ac-
cumulators. All the DSP instructions are performed in a single
cycle. The three external interrupt sources, with eight user se-
lectable priority levels for each interrupt source helps to get the
Hall sensor inputs from the motor. The reference speed and the
required duty cycle can be fed into the controller. The closed
loop control is achieved with the PI controller.

A. PI Controller
The regulation of speed is accomplished with PI Controller.
By increasing the proportional gain of the speed controller,
the controller’s sensitivity is increased to have faster reaction
for small speed regulation errors. This allows a better initial
tracking of the speed reference by a faster reaction of the
current reference issued by the speed controller. This increased
sensitivity also reduces the speed overshooting. The armature
current reduces faster, once the desired speed is achieved.
An increase of the integral gain will allow the motor speed
to catch up with the speed reference ramp a lot faster during
Fig. 6. Relay Circuit.
sampling periods. This will indeed allow a faster reaction to
small speed error integral terms that occur when a signal is reg-
ulated following a ramp. The controller will react in order to
diminish the speed error integral a lot faster by producing a
slightly higher accelerating torque when following an acceler-
ating ramp. On the other hand, too high increase of the propor-
tional and integral gains can cause instability, and the controller

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JOICE et al.: DIGITAL CONTROL STRATEGY FOR FOUR QUADRANT OPERATION OF THREE PHASE BLDC MOTOR WITH LOAD VARIATIONS 977

Fig. 7. Simulink Model of Four Quadrant Drive.

Fig. 8. Modeling of Controller.

becoming insensitive. Too high gains may also result in satura-

tion. Tuning process is by trial and error method and the Pro- Fig. 9. Output of Simulink model—Rotor speed(rpm), Stator current (A),
Stator back emf (V).
portional Constant and Integral Constant are 0.1 and
0.03 respectively.

B. PWM Module
The PWM module simplifies the task of generating multiple
synchronized Pulse Width Modulated (PWM) outputs. It has six
PWM I/O pins with three duty cycle generators. The three PWM
duty cycle registers are double buffered to allow glitchless up-
dates of the PWM outputs. For each duty cycle, there is a duty
cycle register that will be accessible by the user while the second
duty cycle register holds the actual compared value used in the
present PWM period. Fig. 10. Reference Speed and Actual Speed in rpm.

C. ADC Module
The 10 bit high speed analog to digital converter (A/D) allows
conversion of an analog input signal to a 10 bit digital number.
This module is based on Successive Approximation Register
(SAR) architecture, and provides a maximum sampling rate of
500 ksps. The A/D converter has a unique feature of being able
to operate while the device is in sleep mode [11].
The timer module, input capture and output compare modules
are used. The timer registers are used to store the duty cycle of
the PWM pulses that are generated. The input capture module
captures every falling and rising edge of the Hall sensor sig-
nals. In the Hall sensor mode, the input capture module is set
for capture on every edge, rising and falling, .

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 978 IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, VOL. 9, NO. 2, MAY 2013

Fig. 11. Practical Implementation.

The input capture interrupt flag is set on every rising and falling
edge. The interrupt on Capture mode setting bits, , is
ignored, since every capture generates an interrupt. The output
compare module generates an interrupt to trigger the relay cir-
cuit during regenerative mode.

IV. COMPLETE DRIVE SYSTEM

Four quadrant Zero current transition converter (4Q—ZCT)
was implemented for DC motor and single controllable switch
for four quadrant operation was implemented for SRM drive
[12]–[17]. The common regenerative braking methods include
adding an extra converter, or adding an extra ultra-capacitor, or
switching sequence change of power switches. But the method
of adding a converter not only increases cost but also reduces
conversion efficiency. The method of adding an ultra-capacitor
doesn’t require extra DC-DC converter, but it needs a sensor to
detect the ultra-capacitor voltage. This makes the circuit very
complex and hard to implement. Moreover ultra-capacitor is
very expensive.
The method proposed in this paper is simple and reliable. It
conserves energy in a rechargeable battery during the regenera-
tive braking mode. Relay circuits are employed to run the motor
during the accelerating mode and charge the battery during the
regenerative mode.
Fig. 12. Flowchart for four quadrant controller.
The schematic diagram of the drive arrangement of the three
phase BLDC motor is shown in Fig. 5. The position signals ob-
tained from the Hall sensors of the motor are read by the I/O
lines of the dsPIC controller. The Hall sensor inputs give the will be wasted as heat energy is now converted into electric
position of the rotor which is fed to the controller. The con- energy which is rectified and stored in a chargeable battery. The
troller compares it with the reference speed and generates an braking energy can be given back to the power source. But it
error signal. The required direction of rotation either clockwise increases the complexity of the circuit, the DC power generated
or counter clockwise can also be fed to the digital controller. The has to be inverted to be given back to the mains.
PWM module of the controller generates appropriate PWM sig- The frequent reversal of direction of rotation will result in
nals, which are applied to the three phase inverter. the continuous charging of the battery. The energy thus stored
Whenever there is a reversal of direction of rotation it implies can be used to run the same motor when there is an interrup-
there is a change in the quadrant. When the motor is operating in tion of power supply. The actual speed of the motor is fed back
the motoring mode, in the clockwise direction, the relay contacts to the dsPIC controller, which is compared with the reference
are normally open. The relay circuit is shown in Fig. 6. But speed. The difference in speed generates an error signal which
when braking is applied or when a speed reversal command is aids the motor to run at a constant speed. When the speed re-
received, the relay contacts are closed. The kinetic energy which duces to zero (which is obtained from the Hall sensor signals

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JOICE et al.: DIGITAL CONTROL STRATEGY FOR FOUR QUADRANT OPERATION OF THREE PHASE BLDC MOTOR WITH LOAD VARIATIONS
TABLE I
BLDC MOTOR SPECIFICATIONS
TABLE II
BATTERY SPECIFICATIONS
TABLE III
RELAY COIL SPECIFICATIONS
Fig. 13. Hall Sensor signals and Phase Current.
of the motor) it implies that the brake is applied. The capture
module of controller generates an interrupt signal, which closes
the normally open contacts of the rectifier block and opens the
normally closed contacts of the motor.
V. SIMULINK MODEL
The Simulink model of the BLDC motor [18]. The closed
loop controller for a three phase brushless DC motor is mod-
eled using MATLAB/Simulink [19] and [20] is shown in Fig. 7.
Permanent Magnet Synchronous motor with trapezoidal back
EMF is modeled as a Brushless DC Motor.
The model of the controller shown in Fig. 8, receives the Hall
signals as its input, converts it in to appropriate voltage signals.
The gate signals are generated by comparing the actual speed
with the reference speed. Thus a closed loop speed control is
achieved with the help of PI control, present in the controller
block.
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979
Fig. 14. Trapezoidal Voltages of RY and YB.
Fig. 15. PWM Pulses—Control signals to the Inverter.
The simulation results shown in Fig. 9 indicates that, when a
negative torque is applied at time 0.6s, there is a peak overshoot
in the actual speed, which means it aids the motor to run. At
other times the speed is stabilized with the reference speed. The
reference speed is 400 rpm. The speed comparison between the
actual speed and the reference speed is shown in Fig. 10.
VI. PRACTICAL IMPLEMENTATION
The practical implementation of the four quadrant control of
the three phase BLDC motor is shown in Fig. 11. The specifica-
tions of the motor, battery and relay coil are listed in Tables I,
II and III respectively. The no load current of the motor is 0.36
A. Chargeable battery is used to store energy during regenera-
tive mode. The flowchart for the four quadrant controller is pre-
sented in Fig. 12.
VII. RESULTS
The Hall sensor signals and the phase current (of one phase)
of three phase Brushless DC motor are shown in Fig. 13. The
digital storage oscilloscope images shown in Fig. 14 indicate
the trapezoidal voltage of phases RY and YB. The PWM pulses
which are given as input to the inverter are shown in Fig. 15.
 980 IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, VOL. 9, NO. 2, MAY 2013

Fig. 16. Quadrant transition. Fig. 18. Energization with no load.

Fig. 19. Energization with a load of 0.5 kg.

Fig. 17. Speed Control with load of 0.5 kg.

The Pulse Width Modulation (PWM) pulses applied to the

inverter circuit at the appropriate time to trigger the appropriate
switches are the control signals to the circuit, which is shown in
the Fig. 16. It depicts that the motor is running in the forward
direction, after a time interval brake is applied, the motor stops
decelerating at this point the battery starts charging. Once the
brake is released the motor starts to run. Only four of six PWM
pulses are shown in the scope.
The speed control plot shown in Fig. 17 depicts that the actual
speed catches up with the reference speed. The time taken to
attain the reference speed from 500 rpm to 3000 rpm is larger
than when compared with 3000 rpm to 1000 rpm, with applied
load of 0.5 kg. The energization of the batteries with no load and
with loads of 0.5 kg and 1 kg are depicted in the plots of Figs. 18,
19 and 20 respectively. They clearly show that the energization Fig. 20. Energization with a load of 1 kg.
decreases as the load increases.
In Fig. 21, the waveform shows that the battery starts ener-
gising from the instant the speed reversal command is received. VIII. CONCLUSION
The oscillations die out gradually as the motor changes its di- In this paper, a control scheme is proposed for BLDC motor
rection of rotation. to change the direction from CW to CCW and the speed con-

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JOICE et al.: DIGITAL CONTROL STRATEGY FOR FOUR QUADRANT OPERATION OF THREE PHASE BLDC MOTOR WITH LOAD VARIATIONS
Fig. 21. Energization of the Battery.
trol is achieved both for servo response and regulator response.
The motor reverses its direction almost instantaneously, it will
pass through zero, but the transition is too quick. The time taken
to achieve this braking is comparatively less. The generated
voltage during the regenerative mode can be returned back to the
supply mains which will result in considerable saving of power.
This concept may well be utilized in the rotation of spindles,
embroidery machines and electric vehicles where there is fre-
quent reversal of direction of rotation of the motor.
The significant advantages of the proposed work are: simple
hardware circuit, reliability of the control algorithm, excellent
speed control, smooth transition between the quadrants and
efficient conservation of energy is achieved with and without
load conditions. The designed and implemented prototype
model may be implemented even for higher rated motors.
Arcing might occur during the switching on and off of the
relay contacts, when implemented in higher rating motors. But
if the proposed method is implemented in low power motors,
like motor used in sewing/embroidery machines, arcing will be
very less which is not even visible.
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C. Sheeba Joice received her B.E.(EEE) Degree
from Madras University, Chennai, India, in 1998
and her M.E. (Applied Electronics) from Anna
University, Chennai, India, in 2007. She completed
her Doctorate in the area of Embedded Control of
Drives from Anna University, Chennai, India.
She has over 14 years of experience in teaching.
Currently she is with Saveetha Engineering College,
Chennai, India, as an Associate Professor in the De-
partment of Electronics and Communication Engi-
neering. She has published technical papers in inter-
national journals and conferences.
S. R. Paranjothi received the B.E. Degree in
Electrical Engineering and the M.Sc. (Engg.) Degree
from the University of Madras, Madras, India,
and the Ph.D. degree from the Indian Institute of
Technology, Kanpur, India in 1977.
During his outstanding academic career spanning
47 years, he had served in College of Engineering,
Guindy, Anna University, Chennai and Rajalakshmi
Engineering College, Chennai. He has published
several technical papers in national and international
journals. He was a member of the Board of studies of
many Technical Institutions. He served as Member of the Academic Council of
 982 IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, VOL. 9, NO. 2, MAY 2013

Anna University and also the member of the Syndicate of the same University.
He is also a Fellow member of many professional societies like Institution of
Engineers (India) and IET (UK) and has served them with distinction from
time to time.
India. He has contributed around 40 technical papers in various journals and
conferences. His main research interests are in the field of parallel & distributed
algorithms, VLSI design, Network design and management and scientific
computing.
Dr. Jawahar Senthil Kumar is a member of professional societies CSI and
ISTE.

V. Jawahar Senthil Kumar received received the

B.E. Degree in Electrical and Electronics Engi-
neering from Hindustan College of Engineering,
Madras University, Chennai, India. He did his post
graduation in Applied Electronics from Bharatiyar
University, Coimbatore and received the Ph.D. de-
gree in Electronics and Communication Engineering
from Anna University, Chennai, India.
He is an Associate Professor in the Department
of Electronics and Communication Engineering,
College of Engineering, Anna University, Chennai,

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