![International Journal of Trend in Scientific Research and Development (IJTSRD)
Volume 3 Issue 5, August 2019 Available Online: www.ijtsrd.com e-ISSN: 2456 – 6470
@ IJTSRD | Unique Paper ID – IJTSRD26624 | Volume – 3 | Issue – 5 | July - August 2019 Page 1427
Speed Control System for BLDC Motor by using
Direct Back EMF Detection Mathod
Soe Sandar Aung1, Thet Naing Htun2
1Professor, 2Associate Professor
1,2Department of Electrical Power Engineering, Technological University, Mandalay, Myanmar
How to cite this paper: Soe Sandar Aung|
Thet Naing Htun "Speed Control System
for BLDC Motor by using Direct Back EMF
Detection Mathod"
Published in
International
Journal of Trend in
Scientific Research
and Development
(ijtsrd), ISSN: 2456-
6470, Volume-3 |
Issue-5, August 2019, pp.1427-1430,
https://doi.org/10.31142/ijtsrd26624
Copyright © 2019 by author(s) and
International Journal ofTrend inScientific
Research and Development Journal. This
is an Open Access article distributed
under the terms of
the Creative
Commons Attribution
License (CC BY 4.0)
(http://creativecommons.org/licenses/by
/4.0)
ABSTRACT
BLDC motors are used in many industrial and tractionapplications duetohigh
efficiency, low maintenance and high torque. For good performance of BLDC
motors, the accurate knowledge of the rotor position is required. Theneedfor
the rotor position information in BLDC motors have been satisfied by use of
some form of rotor position sensors. But to reduce cost,complexityand alsoto
improve reliability of the system, sensor less drive system is preferred. In this
paper, the development of sensor less control system for BLDC motor using a
direct back EMF detection method is presented and simulation for proposed
system is done with the help of MATLAB/SIMULINK.
KEYWORDS: Sensorless BLDC motor, direct back EMF detection, sensorless
control system
I. INTRODUCTION
In variable-speed control of AC motor drives, utilization of BLDC motor has
been widely used because the BLDC motor has simplerstructureandlowercost
than the other AC motors [1]-[2].They have better speed versus torque
characteristics, high efficiency and betterdynamic responseandalsothetorque
delivered to the motor size is higher making it useful where space and weight
are critical factor.
A three phase BLDC Motor has three phase stator winding on stator and
permanent magnet rotor. The torque developed in BLDCM is affected by the
waveform of back EMF waveform.
Usually the BLDC motor has trapezoidal back EMF waveform
and stator is fed by rectangular stator current and
theoretically it gives a constant torque but the torque ripple
exists due to EMF waveformimperfection,current rippleand
phase current commutation. BLDC motor also need position
information for torque producing and this information is
obtained by using hall sensors or sensorless techniques [5]
[6].
BLDC motors are required rotor positioninformationforthe
proper commutation of currents in its stator windings, this
information can be obtainedusinghallsensorsmountedona
rotor. This results in a high cost as well as poor reliability.
These limitations of using sensors have spurred the
development of sensorless control technology.Basically,two
types of sensorless control technique are there. The first
method is the position sensing using back EMF of the motor
and the other one is position approximation using terminal
voltages, currents and other motor parameters. The back
EMF voltage in the unenergized winding can be measured to
maintain a switching sequence for commutation inthethree
phase inverter. In conventional back EMF detectionmethod,
a virtual neutral point is built and senses the difference
between the virtual neutral and the voltage at the floating
terminal.
II. Principle of sensorless control for BLDC Motor
BLDC motor drives that do not require position sensors but
it contains electrical dimensions are called a sensorless
drive. The BLDC motor provides sensorless operation based
on the nature of its excitation intrinsically suggest a lowcost
way to take out rotor position information from motor
terminal voltages. In the excitation of a three phase BLDC
motor, apart from the phase commutation periods, two of
the three phase windings are functioning at a time and no
conducting phase carries the back EMF. Among various
sensorless control methods, the zero-crossing detection of
back-EMF is the easiest method and it is basedonfindingthe
instaneous at which unexcited phase crosses zero due to
back-EMF.[3]
Figure.1 Phase currents and back EMFs of a three
phase BLDC motor
IJTSRD26624](https://image.slidesharecdn.com/272speedcontrolsystemforbldcmotorbyusingdirectbackemfdetectionmathod-190913082346/85/Speed-Control-System-for-BLDC-Motor-by-using-Direct-Back-EMF-Detection-Mathod-1-320.jpg)
![International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470
@ IJTSRD | Unique Paper ID – IJTSRD26624 | Volume – 3 | Issue – 5 | July - August 2019 Page 1428
In BLDC motor for its distinctive operation, the back-EMF
and phase current should be associated togenerateconstant
torque. As a result, the interval for every phase is conducted
at 120 electrical degrees. Hence, in BLDC motor only two
phases conduct current at whichevertime.Thethird phaseis
called floating phase. In order to produce greatest torque,
the inverter is to be commutated at every 60 electrical
degrees by calculating zero crossing of black EMF on the
floating phase of the motor, therefore the current is in phase
with the back EMF.
III. Direct Back EMF Detection
Three phase brushless DC motors are operated in the six-
step 120° commutation mode. That means, at any certain
time, only two of the three phases are conducting and the
other phase is un-energized. For instance, if phases A and B
are conducting current, phase C will be floating and
unexcited. The conduction interval takes 60 electrical
degrees and referred to as a step, and hence the name six-
step. Commutation means the transition from one state to
another during operation. The firststepis calledAB,then AC,
BC, BA, CA, CB and then repeating. It is important to note
that the step names are made from phases havingpositiveto
negative states.[5]
Rotor position determines when to commutate the current.
In a sensorless control method, no physical sensor can be
used for position detection, so other means have to be
implemented for rotor position detection. Since the shape of
the back EMF changes depending on the rotor position, it is
quite possible to determine the commutation by having a
back EMF detection circuitry. [5]. It is evident that ifthezero
crossing of the back EMF can be determined, we can find
when to commutate the current exactly. Since one of the
three phases does not conduct any current at a certain time,
this gives a chance to measure the zero crossing of the back
EMF.
Figure.2 Phase voltage measurement with respect to
motor neutral point
The voltage of the un-energized phase has to be measured
which the motor neutral needs pointto beidentified because
phase voltage is basically the voltage of the phase with
respect to the neutral point, which is usually nottheinverter
ground. Since most Y-connected motors have their neutral
point unexposed, it is physically not possible to identify the
motor neutral and measure the phase voltage. Hence, in
practice, a method of creating a virtual neutral point is most
commonly used. Theoretically, the virtual neutral point will
have the same potential as of the actual neutral point if the
motor is perfectly balanced [5] The virtual neutral point is
created by three identical resistors as shown in figure 3.[6]
Figure.3 Zero crossing detection scheme with virtual
neutral point
IV. Mathematical Model of BLDC Motor Based Back
EMF Detection Method
The equivalent circuit of a star connected BLDC motor and
the inverter topology is shown in figure 4.TheBLDC motoris
fed to a three phase voltage source through inverter, which
is not necessary to be sinusoidal or square wave can be
applied.
Figure.4 Power circuit of a BLDC motor drive system
𝑉 = 𝑖 𝑅 + 𝐿 𝑖 + 𝑒 (1)
𝑉 = 𝑖 𝑅 + 𝐿 𝑖 + 𝑒 (2)
𝑉 = 𝑖 𝑅 + 𝐿 𝑖 + 𝑒 (3)
Where, R is the stator resistance, L is the combined
inductance, and Van, Vbn,Vcn are the applied phase voltages.
𝑉 = 𝑉 − 𝑉 = (𝑖 − 𝑖 )𝑅 + 𝐿 (𝑖 − 𝑖 ) + (𝑒 − 𝑒 )
(4)
(𝑒 − 𝑒 ) = 𝑉 − 𝑉 − (𝑖 − 𝑖 )𝑅 − 𝐿 (𝑖 − 𝑖 ) (5)
(𝑒 − 𝑒 ) = 𝑉 − 𝑉 − (𝑖 − 𝑖 )𝑅 − 𝐿 (𝑖 − 𝑖 ) (6)
𝑒 = 𝑉 − (𝑖 − 𝑖 )𝑅 − 𝐿 (𝑖 − 𝑖 ) (7)
𝑒 = 𝑉 − (𝑖 − 𝑖 )𝑅 − 𝐿 (𝑖 − 𝑖 ) (8)
𝑒 = 𝐾 × 𝜔 × 𝑓 (𝜃) (9)
𝑒 = 𝐾 × 𝜔 × 𝑓 (𝜃) (10)](https://image.slidesharecdn.com/272speedcontrolsystemforbldcmotorbyusingdirectbackemfdetectionmathod-190913082346/85/Speed-Control-System-for-BLDC-Motor-by-using-Direct-Back-EMF-Detection-Mathod-2-320.jpg)
![International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470
@ IJTSRD | Unique Paper ID – IJTSRD26624 | Volume – 3 | Issue – 5 | July - August 2019 Page 1429
𝑒 = 𝐾 × 𝜔 × 𝑓 (𝜃) (11)
where, ke refers to motor back EMF constant, ωe is the
electrical speed of the rotor and f(θ) is the rotor position
function which has the same shape as the motorback EMFof
the corresponding with a maximum magnitude of 1.
V. Modeling of Sensorless BLDC Motor Using
Direct Back EMF Detection
For the sensorless BLDC motor control, the modeling and
simulation is carried out with MATLAB/SIMULINKsoftware.
For the modeling 5kW, 72Vdc BLDC motor is used and
parameters of BLDC are shown in table 1.
Table.1 Parameters of BLDC motor
Rated Power, kW 5
Rated Voltage, V 72
Rated Torque, Nm 15.9
Rated Speed, rpm 2000
Rotor Inductance, mH 2.08
Resistance,Ω 1.2
EMF constant,V/krpm 25.3
No. of pole 4
The simulink model for sensorless BLDC motor control
system is shown in figure 5. The speed control is done by PI
controller. The reference speed is compared with actual
speed and the error is fed to controlled voltage source. Then
the DC output voltage from the controlled voltage source is
applied to the inverter. The inverter is controlled bythegate
pulses signals supplied from thehysteresis controller.Figure
6 and 7 show simulated the output stator phase current and
gate pulse signals. Figure 8 shows the zero crossing output
waveform. Torque response and speed response of BLDC
motor are shown in figure 9 and 10.
Figure5. Simulink model for sensorless BLDC motor
control system
VI. Result
Figure6.Stator current waveform
Figure7. Gate pulse signal
Figure8. Zero-cross output
Figure9.Torque response of BLDC motor
Figure10. Speed response of BLDC motor
VII. Conclusion
This paper presents the speed control of BLDC motor using
direct back EMF detection method with PI controller was
implementedusingMATLAB/SIMULINK.Insensorless speed
control system, a closed loop speedcontroltechniqueis used
for the BLDC motor. In simulation results with PI controller,
the speeds of BLDC motor are stable 2000rpm at 0.3s.
The sensorless speed control system based on the back EMF
zero crossing detection method with PI controller produces
the best speed error and no steadystate error.Therefore, the
results of sensorless speed control system with PIcontroller
are able to perfect the stability of the speed variation and
less error speed. Therefore, it can be concluded that the
simulation of sensorless BLDC motorspeedcontrolsystemis
one of the most important applications in electrical
engineering field.
References
[1] Vinatha U, SwethaPola, “Simulation o f Four Quadrants
Operation &Speed Control of BLDC MotoronMATLAB/
SIMULINK” TECON 2008-2008 IEEE region 10
conference.](https://image.slidesharecdn.com/272speedcontrolsystemforbldcmotorbyusingdirectbackemfdetectionmathod-190913082346/85/Speed-Control-System-for-BLDC-Motor-by-using-Direct-Back-EMF-Detection-Mathod-3-320.jpg)
![International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470
@ IJTSRD | Unique Paper ID – IJTSRD26624 | Volume – 3 | Issue – 5 | July - August 2019 Page 1430
[2] P Pillay and R Krishnan, "Modeling, simulation, and
analysis of permanent Magnet motor drives. Part II:
The brushless dc motor drive," IEEE Transactions on
Industry Applications, vol.IA-25, no.2, pp.274-279,
Mar./Apr.1989.
[3] C. Gencer and M. Gedikpinar, ”Modelling and
Simulation of BLDC Motor UsingMATLAB/SIMULINK”,
Journal of Applied Sciences, vol. 6, issue 3,pp.688-691,
2006
[4] F. Rodriguez and A. Emadi, ―A novel digital control
technique for brushless DC motor drives,‖ IEEE
Transaction Industrial Electronics., vol. 54, no. 5, pp.
2365–2373, Oct. 2007
[5] JianwenShao , “Direct Back EMF Detection Method for
Sensorless Brushless DC (BLDC) Motor Drives ”
Virginia Polytechnic Institute
[6] José Carlos Gamazo-Real ErnestoVázquez-Sánchez and
Jaime Gómez-Gil “Position and Speed Control of
Brushless DC Motors Using Sensorless Techniques and
Application Trends Sensors 2010.”](https://image.slidesharecdn.com/272speedcontrolsystemforbldcmotorbyusingdirectbackemfdetectionmathod-190913082346/85/Speed-Control-System-for-BLDC-Motor-by-using-Direct-Back-EMF-Detection-Mathod-4-320.jpg)
Speed Control System for BLDC Motor by using Direct Back EMF Detection Mathod
- 1. International Journal of Trend in Scientific Research and Development (IJTSRD) Volume 3 Issue 5, August 2019 Available Online: www.ijtsrd.com e-ISSN: 2456 – 6470 @ IJTSRD | Unique Paper ID – IJTSRD26624 | Volume – 3 | Issue – 5 | July - August 2019 Page 1427 Speed Control System for BLDC Motor by using Direct Back EMF Detection Mathod Soe Sandar Aung1, Thet Naing Htun2 1Professor, 2Associate Professor 1,2Department of Electrical Power Engineering, Technological University, Mandalay, Myanmar How to cite this paper: Soe Sandar Aung| Thet Naing Htun "Speed Control System for BLDC Motor by using Direct Back EMF Detection Mathod" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456- 6470, Volume-3 | Issue-5, August 2019, pp.1427-1430, https://doi.org/10.31142/ijtsrd26624 Copyright © 2019 by author(s) and International Journal ofTrend inScientific Research and Development Journal. This is an Open Access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0) (http://creativecommons.org/licenses/by /4.0) ABSTRACT BLDC motors are used in many industrial and tractionapplications duetohigh efficiency, low maintenance and high torque. For good performance of BLDC motors, the accurate knowledge of the rotor position is required. Theneedfor the rotor position information in BLDC motors have been satisfied by use of some form of rotor position sensors. But to reduce cost,complexityand alsoto improve reliability of the system, sensor less drive system is preferred. In this paper, the development of sensor less control system for BLDC motor using a direct back EMF detection method is presented and simulation for proposed system is done with the help of MATLAB/SIMULINK. KEYWORDS: Sensorless BLDC motor, direct back EMF detection, sensorless control system I. INTRODUCTION In variable-speed control of AC motor drives, utilization of BLDC motor has been widely used because the BLDC motor has simplerstructureandlowercost than the other AC motors [1]-[2].They have better speed versus torque characteristics, high efficiency and betterdynamic responseandalsothetorque delivered to the motor size is higher making it useful where space and weight are critical factor. A three phase BLDC Motor has three phase stator winding on stator and permanent magnet rotor. The torque developed in BLDCM is affected by the waveform of back EMF waveform. Usually the BLDC motor has trapezoidal back EMF waveform and stator is fed by rectangular stator current and theoretically it gives a constant torque but the torque ripple exists due to EMF waveformimperfection,current rippleand phase current commutation. BLDC motor also need position information for torque producing and this information is obtained by using hall sensors or sensorless techniques [5] [6]. BLDC motors are required rotor positioninformationforthe proper commutation of currents in its stator windings, this information can be obtainedusinghallsensorsmountedona rotor. This results in a high cost as well as poor reliability. These limitations of using sensors have spurred the development of sensorless control technology.Basically,two types of sensorless control technique are there. The first method is the position sensing using back EMF of the motor and the other one is position approximation using terminal voltages, currents and other motor parameters. The back EMF voltage in the unenergized winding can be measured to maintain a switching sequence for commutation inthethree phase inverter. In conventional back EMF detectionmethod, a virtual neutral point is built and senses the difference between the virtual neutral and the voltage at the floating terminal. II. Principle of sensorless control for BLDC Motor BLDC motor drives that do not require position sensors but it contains electrical dimensions are called a sensorless drive. The BLDC motor provides sensorless operation based on the nature of its excitation intrinsically suggest a lowcost way to take out rotor position information from motor terminal voltages. In the excitation of a three phase BLDC motor, apart from the phase commutation periods, two of the three phase windings are functioning at a time and no conducting phase carries the back EMF. Among various sensorless control methods, the zero-crossing detection of back-EMF is the easiest method and it is basedonfindingthe instaneous at which unexcited phase crosses zero due to back-EMF.[3] Figure.1 Phase currents and back EMFs of a three phase BLDC motor IJTSRD26624
- 2. International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470 @ IJTSRD | Unique Paper ID – IJTSRD26624 | Volume – 3 | Issue – 5 | July - August 2019 Page 1428 In BLDC motor for its distinctive operation, the back-EMF and phase current should be associated togenerateconstant torque. As a result, the interval for every phase is conducted at 120 electrical degrees. Hence, in BLDC motor only two phases conduct current at whichevertime.Thethird phaseis called floating phase. In order to produce greatest torque, the inverter is to be commutated at every 60 electrical degrees by calculating zero crossing of black EMF on the floating phase of the motor, therefore the current is in phase with the back EMF. III. Direct Back EMF Detection Three phase brushless DC motors are operated in the six- step 120° commutation mode. That means, at any certain time, only two of the three phases are conducting and the other phase is un-energized. For instance, if phases A and B are conducting current, phase C will be floating and unexcited. The conduction interval takes 60 electrical degrees and referred to as a step, and hence the name six- step. Commutation means the transition from one state to another during operation. The firststepis calledAB,then AC, BC, BA, CA, CB and then repeating. It is important to note that the step names are made from phases havingpositiveto negative states.[5] Rotor position determines when to commutate the current. In a sensorless control method, no physical sensor can be used for position detection, so other means have to be implemented for rotor position detection. Since the shape of the back EMF changes depending on the rotor position, it is quite possible to determine the commutation by having a back EMF detection circuitry. [5]. It is evident that ifthezero crossing of the back EMF can be determined, we can find when to commutate the current exactly. Since one of the three phases does not conduct any current at a certain time, this gives a chance to measure the zero crossing of the back EMF. Figure.2 Phase voltage measurement with respect to motor neutral point The voltage of the un-energized phase has to be measured which the motor neutral needs pointto beidentified because phase voltage is basically the voltage of the phase with respect to the neutral point, which is usually nottheinverter ground. Since most Y-connected motors have their neutral point unexposed, it is physically not possible to identify the motor neutral and measure the phase voltage. Hence, in practice, a method of creating a virtual neutral point is most commonly used. Theoretically, the virtual neutral point will have the same potential as of the actual neutral point if the motor is perfectly balanced [5] The virtual neutral point is created by three identical resistors as shown in figure 3.[6] Figure.3 Zero crossing detection scheme with virtual neutral point IV. Mathematical Model of BLDC Motor Based Back EMF Detection Method The equivalent circuit of a star connected BLDC motor and the inverter topology is shown in figure 4.TheBLDC motoris fed to a three phase voltage source through inverter, which is not necessary to be sinusoidal or square wave can be applied. Figure.4 Power circuit of a BLDC motor drive system 𝑉 = 𝑖 𝑅 + 𝐿 𝑖 + 𝑒 (1) 𝑉 = 𝑖 𝑅 + 𝐿 𝑖 + 𝑒 (2) 𝑉 = 𝑖 𝑅 + 𝐿 𝑖 + 𝑒 (3) Where, R is the stator resistance, L is the combined inductance, and Van, Vbn,Vcn are the applied phase voltages. 𝑉 = 𝑉 − 𝑉 = (𝑖 − 𝑖 )𝑅 + 𝐿 (𝑖 − 𝑖 ) + (𝑒 − 𝑒 ) (4) (𝑒 − 𝑒 ) = 𝑉 − 𝑉 − (𝑖 − 𝑖 )𝑅 − 𝐿 (𝑖 − 𝑖 ) (5) (𝑒 − 𝑒 ) = 𝑉 − 𝑉 − (𝑖 − 𝑖 )𝑅 − 𝐿 (𝑖 − 𝑖 ) (6) 𝑒 = 𝑉 − (𝑖 − 𝑖 )𝑅 − 𝐿 (𝑖 − 𝑖 ) (7) 𝑒 = 𝑉 − (𝑖 − 𝑖 )𝑅 − 𝐿 (𝑖 − 𝑖 ) (8) 𝑒 = 𝐾 × 𝜔 × 𝑓 (𝜃) (9) 𝑒 = 𝐾 × 𝜔 × 𝑓 (𝜃) (10)
- 3. International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470 @ IJTSRD | Unique Paper ID – IJTSRD26624 | Volume – 3 | Issue – 5 | July - August 2019 Page 1429 𝑒 = 𝐾 × 𝜔 × 𝑓 (𝜃) (11) where, ke refers to motor back EMF constant, ωe is the electrical speed of the rotor and f(θ) is the rotor position function which has the same shape as the motorback EMFof the corresponding with a maximum magnitude of 1. V. Modeling of Sensorless BLDC Motor Using Direct Back EMF Detection For the sensorless BLDC motor control, the modeling and simulation is carried out with MATLAB/SIMULINKsoftware. For the modeling 5kW, 72Vdc BLDC motor is used and parameters of BLDC are shown in table 1. Table.1 Parameters of BLDC motor Rated Power, kW 5 Rated Voltage, V 72 Rated Torque, Nm 15.9 Rated Speed, rpm 2000 Rotor Inductance, mH 2.08 Resistance,Ω 1.2 EMF constant,V/krpm 25.3 No. of pole 4 The simulink model for sensorless BLDC motor control system is shown in figure 5. The speed control is done by PI controller. The reference speed is compared with actual speed and the error is fed to controlled voltage source. Then the DC output voltage from the controlled voltage source is applied to the inverter. The inverter is controlled bythegate pulses signals supplied from thehysteresis controller.Figure 6 and 7 show simulated the output stator phase current and gate pulse signals. Figure 8 shows the zero crossing output waveform. Torque response and speed response of BLDC motor are shown in figure 9 and 10. Figure5. Simulink model for sensorless BLDC motor control system VI. Result Figure6.Stator current waveform Figure7. Gate pulse signal Figure8. Zero-cross output Figure9.Torque response of BLDC motor Figure10. Speed response of BLDC motor VII. Conclusion This paper presents the speed control of BLDC motor using direct back EMF detection method with PI controller was implementedusingMATLAB/SIMULINK.Insensorless speed control system, a closed loop speedcontroltechniqueis used for the BLDC motor. In simulation results with PI controller, the speeds of BLDC motor are stable 2000rpm at 0.3s. The sensorless speed control system based on the back EMF zero crossing detection method with PI controller produces the best speed error and no steadystate error.Therefore, the results of sensorless speed control system with PIcontroller are able to perfect the stability of the speed variation and less error speed. Therefore, it can be concluded that the simulation of sensorless BLDC motorspeedcontrolsystemis one of the most important applications in electrical engineering field. References [1] Vinatha U, SwethaPola, “Simulation o f Four Quadrants Operation &Speed Control of BLDC MotoronMATLAB/ SIMULINK” TECON 2008-2008 IEEE region 10 conference.
- 4. International Journal of Trend in Scientific Research and Development (IJTSRD) @ www.ijtsrd.com eISSN: 2456-6470 @ IJTSRD | Unique Paper ID – IJTSRD26624 | Volume – 3 | Issue – 5 | July - August 2019 Page 1430 [2] P Pillay and R Krishnan, "Modeling, simulation, and analysis of permanent Magnet motor drives. Part II: The brushless dc motor drive," IEEE Transactions on Industry Applications, vol.IA-25, no.2, pp.274-279, Mar./Apr.1989. [3] C. Gencer and M. Gedikpinar, ”Modelling and Simulation of BLDC Motor UsingMATLAB/SIMULINK”, Journal of Applied Sciences, vol. 6, issue 3,pp.688-691, 2006 [4] F. Rodriguez and A. Emadi, ―A novel digital control technique for brushless DC motor drives,‖ IEEE Transaction Industrial Electronics., vol. 54, no. 5, pp. 2365–2373, Oct. 2007 [5] JianwenShao , “Direct Back EMF Detection Method for Sensorless Brushless DC (BLDC) Motor Drives ” Virginia Polytechnic Institute [6] José Carlos Gamazo-Real ErnestoVázquez-Sánchez and Jaime Gómez-Gil “Position and Speed Control of Brushless DC Motors Using Sensorless Techniques and Application Trends Sensors 2010.”