2017 IEEE Region 10 Humanitarian Technology Conference (R10-HTC)

21 - 23 Dec 2017, Dhaka, Bangladesh

Field Oriented Space Vector Pulse Width Modulation

Control of Permanent Magnet Brushless DC Motor
Md. Ashraful Islam1 Md. Belal Hossen2 Badal Banik3 Bashudeb Chandra Ghosh4
Dept. of EEE Dept. of EEE Dept. of EEE Dept. of EEE
Khulna University of BCMC College of Engineering & Khulna University of Khulna University of
Engineering & Technology Technology Engineering & Technology Engineering & Technology
Khulna, Bangladesh Jessore, Bangladesh Khulna, Bangladesh Khulna, Bangladesh
ashrafulee@yahoo.com hossenb5361@gmail.com bdkeee9@yahoo.com bcgkuet@gmail.com

Abstract—This paper describes the field oriented control
strategy for permanent magnet brushless DC motor with space
vector pulse width modulation technique using current sensor
and a speed sensor as feedback. Adaptive proportional-integral
(PI) controller is introduced in this proposed control method.
The performance of the control method is studied for starting
condition and speed variation in C++ simulation. We observed
that the control method has good performance and speed
response.
Keywords— BLDC motor; field oriented control; space vector
pulse width modulation; adaptive PI controller.
I. INTRODUCTION
Brushless DC (BLDC) motor is one type of synchronous
motor. It is also like a commutatorless and brushless DC motor
as torque-current characteristic is similar to DC motor [1]. In
this motor commutator action is done by an intelligent inverter,
capable of wide range of speed control using pulse width
modulation (PWM). It has three phase winding and AC power
is given from the inverter. In a DC motor field is stationary but
in a BLDC motor field is rotating and armature is stationary. In
permanent magnet brushless DC (PMBLDC) motor the rotor is
made from permanent magnet material. As there is no brush
and commutator, this motor is almost maintenanceless [1].
In seperately excited DC motor field and torque are
seperately controlled by controlling respective field and
armature current. The Clarke’s and Park’s transformations [7]
have the ability to convert an equation with time varying
coefficient to an equation with time non-varying coefficient. In
field oriented control (FOC) synchronous motor is controlled
like a seperately excited DC motor, three phase (i , i , i ) stator
current are identified as two orthogonal direct ( i ) and
quadrature (i ) axis current, where i represents field current
responsible for magnetic field and i represents armature
current responsible for torque. i and i are orthogonally
aligned such that when torque component is controlled the field
component is uneffected or constant. FOC can generate full
rated torque at zero speed. As i produces useful torque and i
has no useful effect on torque generation, so for PMBLDC
motor reference direct axis current i is considered zero, so
the current space vector is forced towards quadrature direction,
so maximum torque efficiency is achieved [8].
The paper [3] proposes a field oriented control (FOC) of
BLDC motor with space vector pulse width modulation
(SVPWM), simulated in Matlab/Simulink. Here, actual direct
axis current (i ) and quadrature axis current (i ) are compared
with reference i , i to generate error signal ( i ,
i ); and from that error signal the reference direct axis
voltage ( V ) and quadrature axis voltage ( V ) are
generated. Paper [3] does not clearly explain, how this
transformation from i ,i to V , V is actually
done and the output results and plots are also insufficient to
explain the overall characteristics of the method.
The paper [4] proposes a field oriented control for
PMBLDC motor with current fed inverters. The drive system is
simulated in a C++ simulation. In paper [5] a study of SVPWM
technique of two level inverter in a Simulink simulation shows
that SVPWM technique utilizes DC bus voltage more
efficiently. It generates less harmonic distortion when
compared with sinusoidal PWM technique. In paper [6] a
current controlled SVPWM technique for reducing torque
ripple in a three-level neutral-point-clamped (NPC) inverter fed
BLDC motor is proposed. It indicated that the different current
slew rates between switching-in and switching-out phase,
generates current ripple, which generates commutation torque
ripple in the commutation interval.
This study is intended to design and analyze performances
of the field oriented space vector pulse width modulation
control of PMBLDC motor with current and speed as feedback.
II. MATHEMATICAL MODEL OF THE MACHINE
Phase voltages of stator = V , V , V
Line voltages of stator = V , V , V
Stator resistance per phase = R
Self-inductance of phases=L , L and L
Mutual-inductances = L , L and L
L =L =L =L
L = L =L =L =L =L =M
Phase back electromotive forces = e , e and e
Stator currents= i , i , i
For a balanced system,
i + i + i = 0 (1)
M.i + M.i = −M.i (2)

978-1-5386-2175-2/17/$31.00 ©2017 IEEE

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 2017 IEEE Region 10 Humanitarian Technology Conference (R10-HTC)
21 - 23 Dec 2017, Dhaka, Bangladesh

Fig.1: Block diagram of field oriented SVPWM controller for PMBLDC motor.
Three phase voltage equation is [1], Relation of mechanical speed and electrical rotor position
V R 0 0 i L−M 0 0 i is [2],
V = 0 R 0 i + 0 L−M 0 i
i
= ω (10)
V 0 0 R 0 0 L−M i
e Trapezoidal back EMF's are given in paper [2,3],
+e (3) f (θ )
e
= f (θ ) (11)
From Equation (3) by substituting V by V , substituting
f (θ )
V by V , substituting V by V , we get,
V −V R 0 0 i −i Angular rotor speed =
V −V = 0 R 0 i −i Flux linkage = λ
V −V 0 0 R i −i Rotor position = θ
L−M 0 0 i −i e −e
+ 0 L−M 0 i −i + e −e (4) The differential equations defines the developed model in
0 0 L−M i −i e −e term of the variables i , i , i , ω . The and time is an
V ,V ,V are Line voltages, independent variable.
V =V −V (5)
From Equation (1), III. PROPOSED SYSTEM
i − i − i + i =−3i (6) The block diagram of the proposed control system of
From Equation (4) by substituting V by V , substituting PMBLDC motor is given in Figure (1). The proposed control
V by V , substituting V by V we get, system uses field oriented technique with current and speed
V −V R 0 0 −3i feedback to generate quadrature and direct axis reference
V −V = 0 R 0 −3i voltages. Then space vector PWM method is applied in PWM
V −V 0 0 R −3i controller to generate sequential six gate pulses. They are fed
L−M 0 0 −3i e −e −e +e
into inverter transistor gates for controlled voltage generation.
+ 0 L−M 0 −3i + e −e −e +e (7)
−3i e −e −e +e The controlled voltages are applied to PMBLDC motor to
0 0 L−M
Electromagnetic torque [2], produce the required speed.
Te= (e i +e i +e i )/ω (8) In a PI controller the proportional mode determines the
If inertia is denoted as J, friction coefficient as B, and load analysis of current error and the integral mode determines the
torque as T then the motion system equation is [2], analysis based on recent error. We can implement algorithm of
J + B ω = (T − T ) (9) PI controller as [2],
Output, e (t) = K e (t) + ( ) (12)

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 2017 IEEE Region 10 Humanitarian Technology Conference (R10-HTC)
21 - 23 Dec 2017, Dhaka, Bangladesh

Where, e (t) = (reference value – actual value). K and K 1. Calculate V , V , V and angle ( ).
are the proportional and integral gains respectively. 2. Calculate time duration T , T and T .
3. Then, the switching time of each transistor (S1 to
T
i = K (13) S6) is determined.
Where, T is the reference torque and K is torque
constant [4]. Only the quadrature current produces useful
torque. So, the P-I controller operates on quadrature current
and takes the requested torque as input. This causes the
quadrature current to track the requested torque, as desired [3].
If Actual speed is ( ) and the reference speed is ( )
then the resultant error is ( ), it is processed in PI
controller to estimate reference quadrature axis current i .
e(t) = ( )= − (t) (14)
i (t) = i (t −1) + K [e(t) − e(t −1)] + K e(t) (15)
In this control systems K and K gain constants are made
adjustable with speed by using Equation (16-17). Where, K
and K are initial gain constants; K and K are the tuner of
the proportional and integral gain constants.
K = K +K ∗ω (16) Fig.2: Rotating Vector in αβ Plane.
K =K +K ∗ω (17)
The reference voltage Equations is [5],
The reference direct axis current i is considered zero.
Three phase output current is converted into direct axis current |V | = V + V = V + V (24)
i and quadrature axis current i using Clarke Transformation α = tan
= ωt = 2πft = θ (25)
and Park transformation [7]. The outputs from the other two

PI controllers represent a voltage space vector with respect to Switching time duration at any Sector [5]:
the rotor, by mirroring the transformation performed on motor If, n =1 to 6, (sector 1 to 6)
currents [3]. Both reference and generated direct axis current m=
√ . .
(26)
are compared to generate reference V through PI controller.
Both reference and generated quadrature axis current are ∴ = . sin − (27)
compared to generate reference V through PI controller. ∴ = . sin (α −
( )
) (28)
i =i −i (18)
∴ T = T − T − T (29)
V (t) = V (t −1) + k [i (t) − i (t −1)]
+k i (t) (19) Where, = (30)
i =i −i (20) Where T ,T and T represent the time widths for vectors
V (t) = V (t −1) + k [i (t) − i (t −1)] V ,V and V . T is the period in a sampling period for null
+k i (t) (21) vectors. As each switching period T starts and ends with zero
k , k , k and k gain constants are made adjustable vectors. S , S and S are the three upper switches of the
inverter. The switching configurations and output voltages of
with speed error by using Equation (22-23). Where, k and
a three phase inverter are given in Table (1).
k are initial gain constants; k and k are the tuner of the
proportional and integral gain constants.
k =k +k ∗ω (22)
k =k +k ∗ω (23)
These signals are processed by SVPWM to produce
voltage control signals for the output inverter bridge. The six
inverter switches are turned on or off sequentially, to generate
the required output voltage, needed to get the required speed
from BLDC Motor using Table (1). SVPWM technique
approximates the reference voltage by a combination of the
eight switching patterns ( V to V ) as shown in Table (1).
Switching instant is determined using SVPWM technique
based on the representation of switching vectors in α, β plane.
The voltage reference is provided using a revolving reference
vector shown in Figure (2). The SVPWM is realized based on
Table 1: Switching configuration and output voltages of a
the following steps,
three phase inverter in SVPWM [6].

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 2017 IEEE Region 10 Humanitarian Technology Conference (R10-HTC)
21 - 23 Dec 2017, Dhaka, Bangladesh

IV. RESULT AND DISCUSSION

The system simulation are done by C++ program code,
using Code Block software to run this simulation and plots are
taken by Origin software using the data file generated from
C++ program simulation. Parameters of the motor are
considered as given below,
Specifications Quantity
No. of Poles 8
Rated Voltage 48V
Rated Current 10 amp
Rated Speed 150 rad/s
Rated Torque 1.45 Nm
Initial Torque 0.4 Nm
Resistance/Phase 0.36 Ω
Self-Inductance 2.1 mH Fig.4a: 3-Phase back EMF.
Mutual inductance 1.5 mH
Flux linkages constant 0.105 V-s/rad
Torque constant 0.40 V-s/rad
Moment of Inertia 0.0048 kg-m2
Damping constant 0.002 N-m/rad/sec
Sampling time 0.00000025 second

The motor is run in a constant speed of 1000 rpm. The

motor reaches full speed in 0.16 second for 1000 rpm without
any overshoot as shown in Figure (3). During starting back
EMF is zero in Figure (4a). But when motor reaches desired
speed, back EMF becomes trapezoidal shape like shown in
Figure (4b). During transient time when speed is rising, a high
current flows as shown in Figure (5a). But after 0.16 second
when motor reaches desired speed, level of current decreases
and stabilizes like shown in Figure (5b). Inverter output Fig.4b: 3-Phase back EMF (Steady state).
voltages are the input of PMBLDC Motor. As we can see in
Figure (6) line voltages are rectangular shape curve. The width
of voltage shape or duty cycle changes according to controller
to control speed. Transistor switches are sequentially ON and
OFF, according to the 's positioning in a particular
voltage sector. There are no voltages at V and V sector.
Hexagonal two axis (α-β) plot of voltages in Figure (7) is
showing the SVPWM characteristics. Rotor angle plot in
Figure (8) is showing unidirectional 360 degree rotation of the
rotor.

Fig.5a: 3-Phase Current.

Fig.3: Speed. Fig.5b: 3-Phase Current (Steady state).

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 2017 IEEE Region 10 Humanitarian Technology Conference (R10-HTC)
21 - 23 Dec 2017, Dhaka, Bangladesh

For variable speed condition, we consider initial 500 rpm

speed, after 0.7 second speed is increased to 1000 rpm and
after 1.6 second speed is increased to 1400 rpm speed as
shown in Figure (9). As speed increases back EMF increases
as more mechanical power is needed to increase speed shown
in Figure (10), because mechanical power is the product of
back EMF and armature current. Figure (12) is showing rotor
angle variation frequency, which increases with rotor speed.
Motor performs well in variable speed condition.

Fig.6a: Line voltages.

Fig.9: Speed variation.

Fig.6b: Line voltage.

Fig.10: Single phase Back EMF for speed variation.

Fig.7: Two axis (α-β) voltage plot.

Fig.8: Rotor angle variation with speed. Fig.11: A phase current for speed variation.

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Fig.12: Rotor angle variation with speed variation.
V. CONCLUSION
We have analyzed field oriented space vector pulse width
modulation control system of PMBLDC motor. In this
SVPWM control method the current and speed are sensed and
they are feedback to the system. Reference voltages
( V , V ) are generated from current error signal
(i ,i ) using adaptive PI controllers. The field
oriented SVPWM control has fast speed response and the
other characteristics are also good. For space technology and
medical insrument where fast speed response with speed
control is required, this control method with BLDC motor can
be a solution.
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2017 IEEE Region 10 Humanitarian Technology Conference (R10-HTC)
21 - 23 Dec 2017, Dhaka, Bangladesh
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