Special Issue - 2015
ISSN: 2278-0181
Position and Speed Control of BLDC Motor using
Hall Sensor
Anisha C. G
Department of Electrical and Electronics
Engineering, Sree Buddha College of
Engineering,
Alapuzha, Kerala, India
Abstract—Permanent magnet brushless DC motor
(PMBLDC) find wide applications in industries due to
their high power density, high torque, little or no torque
ripple, compact size, and precise position control.
However, ripple-free precision control of brushless motors
required precision position measurement. It cab be
difficult to mount encoders directly to the shafts of
these motors, and for precision position control, a
sensorless configuration may be inappropriate. We
propose a method of measuring rotor position using
analog Hall Effect sensors to measure the magnetic field
of the rotor magnets to create a computationally simple
motor control scheme. Based on the rotor position, the power
devices are commutated sequentially every 60 degrees. To
achieve desired level of performance the PM motors
requires PI-speed controller. The simulation of the
proposed method was done using MATLAB
software package in SIMULINK environment.
Index Terms—Brushless dc motor (BLDC), Closed loop control,
Hall Effect sensor.
I. INTRODUCTION
The permanent magnet brushless DC (PMBLDC) motor is
rapidly gaining popularity by its utilization in various
industries, such as appliances, automotive, areospace,
consumer, medical, industrial automation equipment and
instrumentation [1]. As the name implies, the PMBLDC
motors do not use brushes for commutation instead of they are
electronically commutated. The principle of a PMBLDC
motor is similar to that of a conventional DC motor but has
better characteristics and performance as compared to the
other motors. Using a PMBLDC is more advantageous as it
reduces mechanical losses, has high efficiency, noiseless
operation and improved speed-torque characteristics [2]. The
major disadvantage of BLDC motor is their higer cost and
relatively greater degree of complexity introduced by the
power electronics converter [3]. The speed of the motor is
directly proportional to the applied voltage across the winding.
A BLDC motor has a rotor with permanent magnets and a
stator with windings. The brushes and commutator have been
eliminated and the windings are connected to the control
electronics energize the winding with particular sequence of
switching pulses [4]. The energized stator winding leads the
rotor magnet, and switches just as the rotor aligns with the
stator [5].
Volume 3, Issue 32 Published by, www.ijert.org
International Journal of Engineering Research & Technology (IJERT)
NACTET-2015 Conference Proceedings
Abhilasha Parthan
Department of electrical and Electronic
engineering Sree Buddha College of
Engineering,
Alapuzha, Kerala, India
This paper propose a simulation model with a PI controller,
which is responsible to generate PWM pulses to inverter
switching using hall sensor. The organization of this paper is
as follows. Section II describes operation principle of BLDC
motor. Section III describes proposed control scheme. Section
IV presents the simulation results of the proposed method and
section V presents the conclusion.
II. OPERATION OF BLDC
A permanent magnet AC motor, which has a trapezoidal
back EMF, is reffered to as brushless DC motor (BLDC) [6].
The BLDC drive system is based on the feedback of rotor
system at fixed points for commutation of the phase current
[7]. The BLDC motor requires quasi-rectangle shaped currents
fed into the machine. Alternatively, the voltage may be
applied to the motor every 120°, with current limit to hold the
current within motor capabilities [8]. Because the phase
current are excited in synchronism with the constant part of
the back EMF, constant torque is generated. The
electromagnetic torque of the BLDC motor is related to the
product of phase, back EMF and current. The back emf in
each phase is trapezoidal in shape and is displaced by 120
electrical degrees with respect to each other in three phase
machine [9]. A rectangle current pulse is injected into each
phase so that current coincides with the back EMF waveform.
Hence the motor develops an almost constant torque. Figure: 1
shows the equivalent circuit of BLDC motor and inverter
topology.
Figure:1 Equivalent circuit of BLDC and inverter topology
Assuming that stator resistance and inductance of all winding
are equal, the voltage equations of BLDC motor can be
expressed as
1
 Special Issue - 2015 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
NACTET-2015 Conference Proceedings
éVa ù éia ù éia ù é ea ù éVn ù
êV ú = R êi ú + L d êi ú + ê e ú + êV ú (1)
Using a proportional and integral gain the error is amplified.
ê bú ê bú dt ê ú ê ú ê ú
b b n The magnitude of error determines the duty ratio and
êëVc úû êëic úû êëic úû êë ec úû êëVn úû according to that output voltage of inverter varies and speed of
motor is controlled.

Where Vx, ix and ex (x=a, b, c) denote the terminal voltage,

the phase current and the phase back EMF. R is the stator
IV SIMULATION RESULTS
resistance and L is the stator inductance. Vn is the neutral
voltage of Y-connection motor. The electromagnetic torque
The proposed control scheme is simulated in
equation is given by
MATLAB/SIMULINK software. The motor parameters used
for simulation is shown in Table.1. The informative results are
1
Te = ( eaia + ebib + ecic ) (2) displayed in the following figures.
wm
TABLE 1
BLDC motor parameter
Where Te is the electromagnetic torque and wm is the speed.
Figure: 2 show the phase current and commutation sequence Parameters Values
using hall sensor. Voltage 500V
No. of poles 2
Torque constant 0.1 Nm/A
Maximum speed 3500 rpm
Resistance 2.8 ohm
Inductance 8.5 mH
Flux linkages 0.175

Figure: 2 Phase current and commutation sequence

III. PROPOSED CONTROL SCHEME

The BLDC motor is used in electromechanical actuator in

the real time applications. The electromechanical actuator
should be controlled in closed loop where only speed loop is
closed in this application. PI controller is used as a speed
Figure: 4 Stator and electromotive force
controller for recovering the actual motor speed to the
reference. The reference and measured speed are the inputs to
the controller. The contolled signal of PI-controller is fed to
the six step inverter which is connected to the BLDC motor.
The hall sensor sense the rotor position and corresponding
gate signal is generated to switch the inverter. The block
diagram of the control scheme is shown in figure. 3.

ωm
ωref
PI INVERTER
BLDCM

CONTROLLER

GATE HALL
SIGNAL SENSOR
Figure: 5 Electromotive torque

Figure: 3 closed loop control scheme

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Special Issue - 2015 International Journal of Engineering Research & Technology (IJERT)
ISSN: 2278-0181
NACTET-2015 Conference Proceedings

V. CONCLUSTION

The proposed method of measuring rotor position using

analog hall effect sensor provide the portion of information
need to synchronize the motor excitation with rotor position
inorder to produce constant torque. It detects the change in
magnetic field. The rotor magnets are used as trigger the hall
sensors. The simulation of PI controller using
MATLAB/SIMULINK to control the speed of flexible BLDC
motor proves that the desired speed is attained with shorter
response time. The characteristic of motor is obtained and the
analysis reveals that is capable of controlling the motor drive
over wide speed range.

Figure: 6 Rotor speed
Figure: 7 Line to line voltage
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[3] Bjazic. “Performance optimization of pm brushless dc motor drive with
th
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[4] Ramesh, M. V., et al. “Speed Torque characteristics of Brushless DC
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[5] Parihar, Bharat Singh, and Shailendra Sharma. “Performance analysis of
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[9] Joice, C. Sheeba, S.R. Paranjothi, and V. Jawahar Senthil Kumar. “Digital
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