Real-Time BLDC Motor Control and

Characterization Using TMS320F28069M

with CCS and GUI
Vinay Kumar Awaar Neelima Jampally Haritha Gali
Department of EEE Department of EEE Department of EEE
GRIET GRIET GRIET
Hyderabad, India Hyderabad, India Hyderabad, India
vinaykumaar.a@gmail.com jampallyneelima9949@gmail.com galiharitha7@gmail.com

Rajshri Simhadri
Department of EEE
GRIET
Hyderabad, India
rajshrisimhadri@gmail.com

Abstract— Brushless DC motors, unlike normal DC motors,
are supplied by a dc voltage supply and commuted electrically
rather than using brushes. Electric cars, servo motors, linear
motors, actuators, and other applications employ BLDC motors.
The BLDC motor's speed regulation is critical for completing
the work at the required rate. We used code composer studio
(CCS) software with INSTASPIN BLDC technology for this
research work. We use cc studio software to analyze the motor
properties and interface it with a GUI called INSTASPIN-
MOTION MOTORWARE software. INSTASPIN BLDC is a
method of control. It allows us to recognize, tune, and control
any three-phase variable-speed motor. To drive the sensor and
sensorless Insta Spin, we used a three-phase BLDC motor with
DRV8301 and piccolo F28069M control card. The BLDC motor
has dynamic performance and a low minimum operating speed
in four modes. We enabled four blocks, namely Identify,
Control, Plan, and Move, and analyzed the motor's performance
characteristics using the appropriate programs in the code
composer studio. We used both open and closed-loop models to
control the motor's speed and analyze its performance
characteristics.
Keywords: BLDC Motor drive, Field Oriented Control
(FOC), Code Composer Studio, GUI, InstaSpin Motion control,
TMS320F28069
I. INTRODUCTION
Brushless DC motors change electrical energy into
rotational motion in a wide variety of machines, from simple
drills to complex equipment like industrial robots. BLDC
motors provide numerous rewards over brushed motors [2].
Because of their superior electrical efficiency and torque-to-
weight ratio to mechanically commutated or "brushed"
equivalents, electronically commutated or "brushless" motors
are becoming increasingly common. Permanent magnet
synchronous machines (PMSMs) with a trapezoidal return
EMF due to the concentration of stator windings are usually
mentioned as brushless DC (BLDC) motors. Brushless DC
motors are naturally 85-90 percent effective. Brushes wear
down with time, which can cause hazardous flaming and
shorten the lifespan of a brushed motor. Brushless DC motors
are usually quiet, lighter in weight, and have more life span
when compared to traditional DC motors. Brushless DC
motors can offer precise motion control because computers
regulate the electrical current. Brushless DC motors are
commonly employed in contemporary electronics that
mandate less noise and less heat, predominantly in systems
that run uninterruptedly due to these advantages. Washing
machines, air conditioners, and other user appliances are
included in this category. They could also be the primary
power source for service robots, which require accurate force
control for safety.
Express and postal services, e-commerce, airports, the
food and beverage industry, warehousing and distribution
centers, locomotive sectors, and several other manufacturing
businesses have used permanent magnet (PM) brushless dc
motor (BLDCM) drives. Due to its higher efficiency,
noiseless operation, higher flexibility, less maintenance cost,
total cost of ownership, and longer lifespan, the 24V BLDC
motor control technology in zero-pressure conveyor systems
has expanded its popularity into a wide range of areas. The
rotor position is directly or indirectly reliant on torque,
current, position, and speed control in PM synchronous
machines. Any auxiliary instruments like a resolver, optical
encoder, and hall-effect sensors can be used to get
information regarding the rotor position. However, noise-
sensitive and less dependable mechanical sensors are
increasingly being replaced in current and cost-effective
drives. The utilization of voltage or current measurements,
which are already accessible for inverter systems or power
electronic converters, is an advantage of sensorless
approaches. Although the field-oriented control (FOC)
method delivers better results, the six-step control method is
still active in BLDCMs due to its efficacy and less installation
cost, predominantly in trapezoidal back EMF type BLDCMs.
Fig. 1. Block Diagram of InstaSpin BLDC motor drive.

978-1-6654-8057-4/22/$31.00 ©2022 IEEE

 II. FIELD ORIENTED CONTROL
A. Working of BLDC Motor
A BLDC motor is powered by DC, has a permanent
magnet, works at synchronous speed, and has the advantage
of electronic commutation rather than traditional
commutation. It should energize the stator windings in a
specific sequence for electronic commutation and detect the
rotor position. A BLDC motor operates similarly to a Brushed
DC motor. Whenever any current-carrying conductor is kept
in a magnetic field, a force is experienced by it, according to
the Lorentz force equation. The magnet experiences an equal
and opposite force due to the reaction force. In a BLDC
motor, the permanent magnet moves, whereas the current-
carrying conductor is stationary.
When the stator coils get power from the source, they
transform into electromagnets and begin to produce a
consistent field in the air gap. Switching produces an AC
voltage waveform with a trapezoidal shape, although the
supply source is DC. The rotor continues to rotate due to the
electromagnet stator's contact with the permanent magnet
rotor. Windings are activated as North and South poles when
the High and Low signals are switched. The motor rotates
because the permanent magnet rotor aligns with the stator
poles. In the table below, the BLDC Motor's ratings are listed.
TABLE I. RATINGS OF BLDC MOTOR
Parameter Ratings
Torque 0.3 to 0.8 NM
Current (Amp) 2.5A
Voltage(volts) 24V DC
Speed(rpm) 3000rpm
Motor Poles 4 estimate its parameters. The GUI application is opened as we
Hall sensors 3 are displayed on the screen. The current maximum and
Direction of Rotation Bi-directional
B. Open Loop Control
The performance characteristics of the BLDC motor are
studied using open-loop control. The rotor speed is controlled
by varying the stator voltage and frequency without using the
motor's feedback. This method can be used to verify the
hardware connections' integrity. A fixed-frequency motor
power source is used in a constant speed application of open-
loop control [3]. Open-loop control with adjustable speed
requires a variable frequency power supply to control the
rotor speed. Keep the supply voltage amplitude proportionate
to the frequency to provide a steady stator magnetic flux.
Open-loop motor control does not consider the external
circumstances that can impact the motor speed. As a result,
the control system can automatically adjust the difference
between the desired and real motor speeds.
C. Closed-Loop Control
For controlling the speed of the BLDC motor, closed-loop
control takes system input into account. The feedback of
motor signals such as current and position is considered in
closed-loop motor control [4]. The control system uses the
feedback signals to modulate the voltage (applied to the
motor) and maintain a constant motor response. Field-
Oriented Control (FOC) (also known as vector control) is a
common closed-loop approach used in motor control. The
FOC technique implements motors' closed-loop torque,
speed, and position control. This method provides excellent
control over the whole torque and speed ranges.
The transition of stator currents from the stationary
reference frame to the rotor flux reference frame is required
for FOC implementation. The most prevalent control modes
in FOC are speed control and torque control. The position
control mode is not used very often. The torque control mode
is used in most traction applications, where the motor control
system follows a reference torque value. The motor controller
follows a reference speed value and generates a torque
reference for the torque control that constitutes an internal
subsystem in the speed control mode. The speed controller is
an inner component in the position control mode. We need
real-time feedback on the current and rotor positions to
construct this FOC method. Sensors can be used to measure
both current and rotor position. Sensorless approaches, which
use predicted feedback values rather than actual sensor-based
data, are also options.
Closed-loop control tunes the speed controller and current
controller and changes the duty cycles of the inverter using
real-time position and stator current feedback. This ensures
that the motor feedback deviation is corrected by the
corrected three-phase voltage supply (which operates the
motor). Loop control is commonly utilized to examine the
motor's performance characteristics. The rotor speed is
controlled by changing the stator voltage and frequency
without motor feedback.
III. SIMULATION RESULTS
A. Motor Parameters Estimation
We attached the BLDC Motor to the F28069M launchpad
and drv8301 controller to regulate the motor's speed and
develop the programs, and the corresponding motor settings
minimum values were set to the BLDC motor's rated values.
The motor is given several reference speeds as input, and
we can see the motor turning at the appropriate speed. Speed
control is therefore achieved. Current, flux, torque, and other
parameters vary with speed. The current and torque figures
change with the motor's speed. In order to examine the
performance characteristics, we plotted graphs between these
parameters. In TABLE II below, the BLDC speed and torque
characteristics are listed. The current and torque
characteristics are shown in TABLE III. The torque increases
as the speed increases; the torque decreases after reaching the
maximum torque, as shown in Fig 2. The current increases
gradually as the speed increases, as in Fig 3.
TABLE II. SPEED AND TORQUE PARAMETERS
Speed (rpm) Torque(N-M)
200 7.58
500 12.4
600 13.2
800 13.97
1000 18.53
1200 25.88
1300 16
 Speed-Torque Characteristics Speed-Current Characteristics
30
250
Torque (m N-M)

25

Current(m N-M)
200
20
15 150

10 100

5 50

0 0
0 500 1000 1500 0 500 1000 1500

Speed (rpm) Speed (rpm)

Fig 2. Speed-Torque Characteristics Fig 4. Speed-Current Characteristics

TABLE III. CURRENT AND TORQUE PARAMETERS The BLDC speed and current characteristics are listed in the
Current(mA) Torque (m N-M)
TABLE IV above. Current increases gradually with speed, as
shown in fig 4. Three modes of operation can be adopted for
110 7.58 parameters identification as listed in the following sections.
130 7.93
B. Identify mode of operation
150 12.4
The Identify block is used to identify the Inertia and
180 13.2 Friction of the Motor. In the Motor ware software, open the
220 18.53 MOTION-Velocity and build the project files proj_lab05c &
proj_lab12a to identify Motor parameters. Select the Enable
system and then run the program file. Wait till the
CTRL_State_OnLine & EST_State_OnLine. Set the Goal
Speed to the maximum application speed (without any field
Current-Torque Characteristics weakening) [6]. If the application has large friction, then
reduce the Ramp Time. This will increase the rate of change
20 of current. Then Run the Identify block. The motor has to spin
Torque(m N-M)

15 continuously until the test is completed. Once the test is

10 complete, the Inertia and Friction values will be populated on
5
the screen. Thus, the system Inertia Identification is
performed.
0
0 50 100 150 200 250 TABLE V. SPEED AND INERTIA PARAMETERS
Current (mA)
Speed Inertia Inertia Inertia
(rpm) (A/krpm/s) L1 (A/krpm/s) L2 (A/krpm/s) L3

Fig 3. Current-Torque Characteristics

100 0.202917 0.20852 0.197024
TABLE IV. CURRENT AND SPEED PARAMETERS
200 0.190443 0.209039 0.195639
Speed(rpm) Current(mA)
300 0.207231 0.194965 0.208388
200 110
400 0.194158 0.191846 0.196789

400 150 600 0.208429 0.195714 0.194318

700 200 700 0.196172 0.186303 0.186387

900 0.186008 0.207529 0.187632

1000 220
1100 0.19608 0.209335 0.207821
1200 220
1200 0.201453 0.190028 0.195713

1400 210 1300 0.194532 0.204058 0.192004

 C. Control mode of operation
The control block is used to control the speed of the
Speed-Inertia Characteristics BLDC motor. The speed control can be done using the open-
0.215
loop or closed-loop models. In Motor ware software, open the
Inertia (A/krpm/s)

MOTION-Velocity and build the project files proj_lab05e

0.21
and proj_lab06d to control the speed of the motor. InstaSPIN-
0.205 MOTION includes a SpinTAC speed controller [7]. This
0.2 controller works over a wide operating range than a PI
0.195 controller and reduces the need for "gain staging". This
0.19 controller is tuned using a single parameter called bandwidth.
0.185 The stiffness of the system increases as the bandwidth is
0.18 increased. In TABLE VI above, the BLDC speed and friction
0 500 1000 1500
characteristics are listed. The inertia and friction increase and
decrease for various speeds in Fig 5 and Fig 6.
Speed (rpm)
In order to control the speed of the motor, we should
Inertia(A/krpm/s)L1 Inertia(A/krpm/s)L2 disable the Force Angle and set 0 speed. Quickly rotate the
motor shaft by 90-180 degrees, and then let go. The shaft
Inertia(A/krpm/s)L3 should rotate easily. Increase the bandwidth (BW scale) and
feel how the controller is fighting to maintain the zero speed.
Fig 5. Current-Torque Characteristics Repeat this process until it becomes difficult to move the
motor shaft (this means that the controller is holding the 0
TABLE VI. SPEED AND FRICTION PARAMETERS
speed). Once the controller is suitably holding the 0 speed,
Speed Friction Friction Friction set the Speed Reference (Speed_Ref_RPM) to the maximum
(rpm) (krpm/s) L1 (krpm/s)L2 (krpm/s)L3
speed in the application to ensure that the controller is stable
100 0.284845 0.308992 0.262501 across the entire operating range. If the motor oscillates or
300 0.300785 0.25578 0.309194 vibrates, reduce the bandwidth by 10-20%.
400 0.205275 0.246336 0.26408 D. Move mode of operation
600 0.307534 0.258722 0.250422 The Move block is used to obtain the motor's speed and
position trajectories. In the Motor ware software, open the
700 0.258572 0.219848 0.218294
MOTION-Velocity and build the program files proj_lab06a -
900 0.219532 0.303704 0.234143 proj_lab06d to obtain the speed trajectories [8]. SpinTAC
Move provides the trajectory generation functions for the
1000 0.235267 0.222375 0.195414 InstaSPIN-MOTION. SpinTAC Move is generally a
1200 0.279926 0.233797 0.257268 constraint-based profile generator. Users provide the limits
for the profile and SpinTAC will generate the fastest possible
curve to meet this limit. The next step is to configure a motion
profile. InstaSPIN-MOTION features several different types
of curves. Curve Types include:
Speed-Friction Characteristics Trapezoid (Fixed Acceleration)
s-Curve (Fixed Jerk)
0.35
st-Curve (Continuous Jerk)
0.3
Friction (krp/m/s)

0.25 Select the st-curve and set the acceleration (rate of change
of speed). Set the Jerk (rate of change of acceleration) and set
0.2 a low Jerk for smoother motion and a high Jerk for fast
0.15 transitions. Then Run the motion profile. Vary the speed
0.1 setpoint. The amount of time the profile will take is
automatically calculated and displayed. The LED indicator is
0.05
on when SpinTAC Move is generating the profile. Velocity
0 profiles are interrupted if the controller receives a new
0 500 1000 1500 setpoint. Thus, the speed trajectory of the motor is obtained.

Speed (rpm) E. FOC mode of operation

Field-oriented control (FOC), also known as vector
control, controls the stator frequency of a three-phase AC
Friction(krpm/s)L1 Friction(krpm/s)L2 induction motor utilizing two orthogonal components. The
Friction(krpm/s)L3
magnetic flux produced by the stator is one, while the torque
is determined by the motor's speed, which is dictated by the
rotor position. Rather than using pulse width modulation,
they typically use proportional-integral (PI) controllers,
Fig 6. Speed -Friction Characteristics
which compare current components to reference values
(PWM) [5]. Electric motors may now run smoothly over the
whole speed range and deliver full torque at zero rpm.
Another advantage of field-oriented control is that it can
provide quick motor acceleration and deceleration, resulting
in more precise control in high-performance motors. Without
mechanical rotor sensors, the InstaSPIN-FOC system can
identify, configure the torque controller, and efficiently
regulate the motor in minutes. The FAST estimator and FOC
blocks are included in the ROM for the F2806xF devices; it
includes the FAST estimator to measure rotor flux
(magnitude and angle) in a sensorless FOC system. Speed and
Flux. The Speed and Flux characteristics are shown in
TABLE VII; the flux decreases with speed in Fig 7.
TABLE VII. SPEED AND FLUX PARAMETERS
Speed(rpm)
100
400
600
1000
1500
This enhanced version of the LaunchPad allows two
Booster Packs to be connected. The LaunchPad provides a
standardized and simple platform for motor operations.
The BOOSTXL-DRV8301 is a 10-amp, three-phase
brushless DC drive stage with the DRV8301 pre-driver and
the CSD18533Q5A NexFETTM power MOSFET. Three
low-side current sense amps are included in the module (2
internal to DRV8301 and one external). The module also has
a 1.5A step-down buck converter, short circuit, heat, shot
through protection, and an SPI interface for easy
configuration. The LaunchPad receives 3. 3V power from the
DRV8301's integrated step-down buck converter. The
nFAULT and nOCTW signals are used to report faults [9].
The SPI interface is used to configure the device, adjust
Flux(mV/Hz)
operating parameters, and retrieve diagnostic data. Three or
68.7962 six PWM inputs provide independent control. The DC bus
and each phase output have voltage detection (6- 24 V
68.759
operation). Each phase's current shunt sensing (0-14 A peak
68.7227 operation) is low.
68.6212
TABLE VIII. SPEED AND VOLTAGE PARAMETERS
68.5779
Speed(rpm) V(ry) V(yb) V(br)

200 1 1.2 0.9

400 2.7 2.5 2.4

Speed-Flux Characteristics
600 3.4 3 3.4
68.85
68.8 800 4 4.2 4.2
Flux (m V/Hz)

68.75
1000 4.8 4.8 4.7
68.7
68.65 1200 5.9 5.6 5.7
68.6
1600 7.6 6.4 6.9
68.55
0 500 1000 1500 2000 1800 6.9 6.3 6.5
Speed (rpm)
2000 6.5 6.3 6.4

Fig 7. Speed-Flux Characteristics

IV. EXPERIMENTAL RESULTS Speed-voltage characteristics

25
Voltage (Volts)

20
15
10
5
0
100 300 500 700 900 11001300150017001900

Speed(rpm)
v(br) v(rw) v(wb)
Fig 8. Hardware Setup Fig 9. Speed-Voltage Characteristics
 IV. CONCLUSION
[8]. Karthikeyan, J., and R. Dhana Sekaran. "Current control of
The speed control of the brushless dc motor by brushless dc motor based on a common dc signal for space
BOOSTXLDRV8301 module along with F28069M control operated vehicles." International Journal of Electrical Power &
card with GUI is implemented. The performance Energy Systems 33, no. 10 (2011): 1721-1727.
characteristics of the BLDC motor are studied using open-
loop control. The rotor speed is controlled by varying the [9]. Varatharaju, V. M., B. L. Mathur, and K. Udhyakumar. "Speed
stator voltage and frequency without using the motor's control of PM BLDC motor using MATLAB/Simulink and
feedback. The FOC technique implements motors' closed- effects of load and inertia changes." In 2010 International
Conference on Mechanical and Electrical Technology, pp. 543-
loop torque, speed, and position control. The Inertia and
548. IEEE, 2010.
Friction of the Motor are identified using the Identify block.
The speed of the BLDC motor is controlled using the Control [10]. Yanamshetti¹, Raju, and Juhi Nishat Ansari. "Microcontroller
block. The motor's speed and position trajectories are controlled BLDC drive for electric vehicle." (2012).
obtained using the Move block. Speed control is implemented
with the help of CCstudio and motor ware software. Thus, the
speed control and performance characterization of the
BLDC/PMSM motor is observed and respective graphs are
plotted.
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