Modeling and Dynamic Simulation of Permanent Magnet

Brushless DC Motor (PMBLDCM) Drives

P. Ramesh Babu1, S. Ramprasath2, and B. Paranthagan3

Department of EEE, Saranathan College of Engineering, Trichy, Tamilnadu, India

{rameshbabu-eee,ramprasath-eee,
paranthagan-eee}@saranathan.ac.in

Abstract. This paper deals with modeling and dynamic simulation of

PMBLDCM drives using MATLAB and its toolbox Simulink. Mathematical
model of whole system which incorporates BLDC Motor, inverter, current
controller and speed/torque controller is used for the proposed model of
PMBLDCM drives. The current, back emf and torque equations are used to
build the mathematical model of BLDC Motor. Inverter is modeled with the
help of switching function concept instead of using actual switching device. PI
controller is utilized for speed/torque control of PMBLDCM drives. Hysteresis
controller is employed for current control of PMBLDCM drives. With the aid of
the developed model, the Steady and Transient-state characteristics of speed
and torque in addition to voltages and currents of inverter components can be
effectively examined and analyzed. This proposed model can be projected to
trouble-free design tool for the development of PMBLDCM drives.

Keywords: PMBLDCM Drives, Modeling, Dynamic Simulation.

1 Introduction

Brushless DC (BLDC) Motors are able to replace conventional DC Motors in many

adjustable speed applications [1]. BLDC Motors are driven by dc voltage but current
commutation is done by solid state switches. The commutation instants are decided by
the rotor position and the position of the rotor is detected either by position sensors or
by sensor less techniques. In order to design BLDC motor drive system, it is
necessary to have motor model that gives accurate value of torque which is related to
current and back-EMF. Different simulation models [3], [4] have been presented to
analyse performance of PMBLDCM drives. Even though all the previous works made
a great involvement to modeling of PMBLDCM drives system, the model developed
in this paper will be effective for monitoring and analysing the performance of
PMBLDCM drives. Hence here a 3 phase, 4 pole, star connected, trapezoidal back-
EMF type of BLDC motor has been taken for modeling a complete PMBLDCM
drives system subsequently simulated in MATLAB /Simulink.

V.V. Das and Y. Chaba (Eds.): AIM/CCPE 2012, CCIS 296, pp. 556–564, 2013.
© Springer-Verlag Berlin Heidelberg 2013
 Modeling and Dynamic Simulation of Permanent Magnet Brushless 557

2 Modeling of PMBLDC Motor

In PMBLDC Motor, the distribution of flux is trapezoidal in nature [1]. Given the
trapezoidal flux distribution, it is sensible to build up a model of the PMBLDC Motor
in phase variables. The motor is assumed to be three phase star connected R-L –e
(back emf) stator circuit. Due to smooth cylindrical rotor, there is no rotor inductance
with angle and assuming three identical phases, therefore self and mutual inductance
of three phases are equal. The stator currents are restricted to be balanced and it can
be described by the following voltage equations.

d
V = i R (L M) i e (1)
dt

d
V = i R (L M) i e (2)
dt

d
V = iR (L M) i e (3)
dt
Where Va, Vb, Vc – Stator phase voltages, Rs – Stator resistance, ea, eb, ec - Stator
induced emfs, L ,M– Self and Mutual inductances of phase a-b-c, ia, ib, ic – Stator
phase currents.
The equations (1), (2) and (3) lead to simplification of PMBLDC Motor model as

1 0 0 1 0 0
= 0 1 0 ( ) 0 1 0 (4)
0 0 1 0 0 1

2.1 Mathematical Model of Electromagnetic Torque

In PMBLDC Motor, the induced emfs are trapezoidal, whose peak value, Ep is given
as
E =λ ω (5)
The total electromagnetic torque is given by
T = (e i e i ei) ω (6)
The instantaneous induced emf of phase, a can be written as
e = f (θ )λ ω (7)
Where fas (θr) – Rotor position which is dependable for inducing emf in phase, ‘a’. λ
– peak mutual flux linkage of stator winding .Hence the total electromagnetic torque
in terms of rotor position is given as