Proceedings of IEEE International Conference on Applied System Innovation 2018

IEEE ICASI 2018- Meen, Prior & Lam (Eds)

Permanent Magnet Brushless Motor Field Oriented Control with Dither Signal
Injection

Seng-Chi Chen1, a, Elisabeth Tansiana Mbitu2, b

Department of Electrical Engineering Southern Taiwan University of Science and Technology
No. 1, Nantai Street, Yungkang District
Tainan City, 71005, Taiwan
a
amtfcsg123@stust.edu.tw, bda320206@stust.edu.tw

Abstract depend on the features of dither. There are some shapes of

The studies and application of Brushless Motor Field
Oriented Control (FOC) with dithering technique was built
using real-time test platform in this work. Here, the dither
signal was introduced to the system to eliminate the sustained
oscillation called limit cycles which usually uncontrollable. To
see the system performance, a Serial Communication Interface
(SCI) was made to monitoring the digital signal output. The
experimental results show the ability of dither injection signal
to remove the limit cycles at speed and electromagnetic field.
Key words: BLDC Motor, FOC, dither injection and self-
excited oscillation
Introduction
In this present years, PM DC motor is increasing application,
especially in electric power drive system. In its expansion, the
BLDC motor also has great achievements in automotive,
household and aerospace industries. PM BLDC motor has
many benefit of long lifetime, low noise and high efficiency.
Although it has many advantages, but the development of DC
machines still continues to improve its performance. Currently,
the researchers focus on several areas one of which is
investigating how to reduce the torque ripple on the BLDC
motor [1]. It well known that the field oriented control (FOC)
as a vector control could be used to control the torque of the
three-phase AC electric motors by controlling the current. In
the FOC method, flux and torque can be controlled separately
so as to provide faster dynamic response, less torque ripple and
more smooth. In the other hand, it has been known that the
using of dithering technique will decrease the nonlinearities
effects in closed loop control system. With chosen the suitable
high frequency of dither signal, the performance of nonlinear
control system will upgrade [2]. Since many nonlinear systems
display the undesirable hunt or limit cycle, so the injection of
dither will suppress this uncontrollable oscillation. Dithering
technique defined as the addition of a secondary signal to
closed loop system to enhance the system linearity. It means
that the introduced of this external signal influence the
authentic feedback system stability [3]. So this is point to the
signal stabilization. In principle, for the dithering technique to
be successful, the parameter selection of amplitude and dither
frequency must be precise. Therefore, the relation of input-
output nonlinearity becomes smooth. The smooth effect it
dither signals, triangular wave, sinusoidal wave, saw-tooth
wave, square wave and trapezoidal wave.
Various work has been done using dither injection technique.
In [4], [5], [6] and [7], dither is used for controlling and even
suppress the undesired nonlinearity behavior in a control
system is presented. The upshot of dithering method in
nonlinear control system is also described. A new method
using large high-frequency dither for reducing harmonic
distortion was shown by Eilsen [8]. The reduction of
nonlinearity is due to the smoothing effects. Some studies
combine the dithering technique with other control method.
Zhu and Fujimoto [9] concatenate the dithering with Kalman
filter to eliminate the effects of quantization. The experimental
and simulation results show the success of the suggested
method. In [10] and [11] shown that the accomplishment of
induction motor drive can be improved using dither technique.
Here the method is added the minute of sinusoidal dither to the
torque band and flux error block in DTC method. This
proposed method reduce the ripple of flux and torque in a fed
induction motor.
In this paper, the field oriented control method will combine
with dithering technique to increase the performance of the
control system. The self-oscillation effects from gearbox of
BLDC motor will be quenched by this new proposed method.
Here, the DSP controller will be used as an interface between
PM BLDC motor and the FOC with dither signal method. An
experimental set up using embedded coder Matlab/Simulink
was built to show the ability of dither injection technique.
Experimental Set Up
DRV8312-C2-KIT
BLDC
Fig 1. Experimental Setup

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 Proceedings of IEEE International Conference on Applied System Innovation 2018
IEEE ICASI 2018- Meen, Prior & Lam (Eds)

The Field Oriented Control (FOC) with dithering has been

designed by using DSP board TMS320F28035. The author
uses TI DRV8312-C2-KIT as depicted in Figure 1 which
consist of F28035 control card, DRV8312 DMC board with
slot for the control card, USB cable, 24V AC/DC, 2.5A of
current and, BLDC motor with gearbox mounted. The BLDC
motor parameters is exhibit in Table 1. Table 2 shows the
specification of BLDC compact planetary gearbox. The design
of 3D printing of BLDC motor gearbox is presented in Figure
2.

Table. 1. BLDC Motor Parameters

Item Value Unit
Stator 0.79 Ohm
Resistance (RS)
Number of 8 Pole
Poles Fig2. 3D printing of NEMA17 BLDC Planetary gearbox
Stator 0.0012 H
Inductance (LS)
Installation of gearbox on this BLDC motors aims to
Base Voltage 66.32 V
produce nonlinearity backlash. The next step that we should to
Base Frequency 200 Hz do is check the system, is it produce a self-excited oscillation
Base Current 5 Amp or not. To see the existence of self-excited oscillation
phenomena of the system, the zero command is given into the
Table. 2. Planetary gearbox of NEMA17 BLDC Motor input. The general block of the implementation of BLDC FOC
specification using Embedded Coder Toolbox shown in Figure 3.
To introduce the dithering technique into the system, a
Item sinusoidal dither signal with different frequency was injected
in the torque part. Figure 4 shows the implementation of dither
External gear teeth 27
signal injection to the BLDC with FOC scheme using
4 internal gears 9 teeth Embedded Coder Simulink/Matlab.

Gear ratio 4:1 Experimental Results and Discussion

The output shaft bolt M5
All the experimental have been done without and with dither
M3 screws and nuts for mounting signal injection as a comparison. Here, a sinusoidal dither
signal with different frequency is injected into the torque part
Boxing thickness v1-12mm,v2-15mm of the system. 1 Volt of the dither signal amplitude is chosen.

C28x

IR QN

Interrupt
Hardware Interrupt 1

ADC Interrupt() eCAP1 Interrupt()

0 RT Position Sensor
Position Sensing Rate Transition Speed Hall Sensor A
using Hall Sensor Desired Torque
Speed Act
FOC Algorithm
External Interrupt
XNT1()
Speed Hall Sensor B
Speed Ref
Desired Torque
Desired Speed External Interrupt
XNT2()
Speed Controller
Hall Sensor C
Torque

SCI Monitoring
0 Speed request selector Desired Speed
System Initialize
Speed request from Desired Speed
constant value External Interrupts
Initialization

Fig 3. BLDC FOC using Embedded Coder Toolbox Simulink

1142
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 Proceedings of IEEE International Conference on Applied System Innovation 2018
IEEE ICASI 2018- Meen, Prior & Lam (Eds)

Fig 4. Implementation of dither signal injection to the BLDC with FOC scheme using Embedded Coder Simulink/Matlab

Figure 5 shows the experimental result using embedded 1.5

coder Simulink for speed and electromagnetic torque with no

Electromagnetic Torque
dither injection. Figure 6 and Figure 7 exhibit the 1

electromagnetic torque and speed performance real-time 0.5

experimental results when dithering is added into the system

(Nm)
0
with f=500 Hz, f=10 KHz, and f=20 kHz respectively.
According to results, the limit cycle appear in Figure 5 is -0.5
eliminated when dither is introduced as shown in Figure 6 and -1
Figure 7 for the electromagnetic torque and speed respectively.
Table 3 and Table 4 shows the comparison results with the -1.5
0 0.30.60.91.21.51.82.12.42.7 3 3.33.63.94.24.54.85.15.45.7 6
different frequency of sinusoidal dither signal.
From all the results of simulation, it shows that among the Time (s)
same amplitude and different frequency, the sinusoidal dither
have ability to eliminate the limit cycle oscillation. (a)

1.5 0.8
Electromagnetic Torque

0.6
Electromagnetic Torque

1 0.4
0.2
0.5
0
(Nm)

(Nm)

0 -0.2
-0.4
-0.5
-0.6
-1 -0.8
-1
-1.5 -1.2
0 0.3 0.6 0.9 1.2 1.5 1.8 2.1 2.4 2.7 3 3.3 3.6 3.9 4.2 4.5 4.8 5.1 5.4
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 2.2 2.4 2.6 2.8 3 3.2 3.4
Time (s)
Time (s)

(a)
(b)

1
1.5
0.5
Electromagnetic Torque (Nm)

0
1
-0.5
Speed (pu)

-1
-1.5 0.5
-2
-2.5 0
-3
-3.5 -0.5
0 0.3 0.6 0.9 1.2 1.5 1.8 2.1 2.4 2.7 3 3.3 3.6 3.9 4.2 4.5 4.8 5.1 5.4
-1
Time (s)
-1.5
Act Speed Ref Speed 0 0.20.40.60.8 1 1.21.41.61.8 2 2.22.42.62.8 3 3.23.43.63.8 4
Time (s)
(b)
(c)
Fig 5. Experimental results without dither injection. (a) Fig 6. Experimental results of Electromagnetic Torque with
Electromagnetic Torque (b) Speed dither injection. Dither frequency=500 Hz, (b) Dither
frequency=10 KHz, (c) Dither frequency=20 KHz.

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 Proceedings of IEEE International Conference on Applied System Innovation 2018
IEEE ICASI 2018- Meen, Prior & Lam (Eds)

Table 3. The comparison result using different frequency of Table 4. The comparison result using different frequency of
dither signal in Speed dither signal in Electromagnetic Torque
Sinusoidal Dither Frequency Ts to eliminated the torque
Sinusoidal Dither Frequency Ts to rich the steady state (Hz) ripple
(Hz) (s) (s)
500 2.8
500 2.7 10000 2.4
20000 1.8
10000 2.4
20000 1.8 From Table 3 and Table 4 we can see that sinusoidal dither
signal with frequency 20 KHz has the better performance
compare to others.

8 Conclusion
6 An improved Field Oriented Control (FOC) for nonlinear
Permanent Magnet Brushless Motor (PM BLDC) with
Speed (pu)

4
2 dithering signal method in feedback control system has been
0 reported. The experimental showing that the dither signal
-2 addition can improve the system performance. The injection of
-4 sinusoidal dither could quench the limit cycles which appear in
0 0.3 0.6 0.9 1.2 1.5 1.8 2.1 2.4 2.7 3 3.3 3.6 3.9 4.2 4.5 4.8 5.1 5.4 5.7 6 the system caused by backlash nonlinearity. In the future, this
Time (s) results will be confirmed with different types of dither signal.
Act Speed Ref Speed

Reference
(a) [1] Xia, Chang-Liang, Permanent Magnet Brushless DC Motor
Drives and Controls, Singapore: John Wiley & Sons
6
Singapore Pte. Ltd, 2012, Pp 3-10.
5 [2] Iannelli, L., Johansson, K. H., Jönsson, U., & Vasca, F. (2003,
4 September). Practical stability and limit cycles of dithered relay
3 feedback systems. In European Control Conference (ECC),
2
2003 (pp. 318-323). IEEE.
Speed (pu)

1
0 [3] Behera, R. K., & Das, S. P. (2008). Improved direct torque
-1 control of induction motor with dither injection. Sadhana, 33(5),
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-3 [4] Chen, S. C., & Mbitu, E. T. (2016, November). Quench limit
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Time (s) In Advanced Materials for Science and Engineering (ICAMSE),
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1
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Speed (pu)

0
-0.5 [7] Chen, S. C., & Tsai, H. H. (2009). The Performance of Different
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-1
B, 23(20n21), 2507-2520.
-1.5 [8] Eielsen, A. A., & Fleming, A. J. (2017). Improving Digital-to-
-2 Analog Converter Linearity by Large High-Frequency
0 0.20.40.60.8 1 1.21.41.61.8 2 2.22.42.62.8 3 3.23.43.63.8 4 Dithering. IEEE Transactions on Circuits and Systems I:
Time (s) Regular Papers, 64(6), 1409-1420.
[9] Zhu, H., & Fujimoto, H. (2014). Suppression of current
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[10] Behera, R. K., & Das, S. P. (2008). Improved direct torque
Fig 7. Experimental results of Speed with dither injection. control of induction motor with dither injection. Sadhana, 33(5),
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