2nd International Conference on Electrical & Electronic Engineering (ICEEE), 19-21 December 2017, RUET, Rajshahi, Bangladesh

A Novel Regenerative Braking System of BLDC

Motor for Lightweight Electric Vehicles: An Analysis
of Braking Characteristics
S.M. Baque Billah1,*, Mohammad Jakaria2, and Pronab Nath2
1
Department of Electrical and Electronic Engineering, East Delta University (EDU)
Chittagong, Bangladesh
2
Department of Electrical and Electronic Engineering, University of Science and Technology Chittagong
Chittagong, Bangladesh
*
baque.billah88@gmail.com

Abstract— In this paper a novel regenerative braking
mechanism based on Brushless DC (BLDC) motor is proposed.
Based on proposed method braking can be achieved by applying
different Stator voltage from a multi cell battery system without
using additional DC-DC boost converter with complex switching
technique or ultra-capacitor. To evaluate the performance of the
proposed braking system an experimental setup has been used.
Simulated results prove that the proposed regenerative braking
technique is feasible and efficient. Also this research provides
simplest system for regenerative braking using BLDC motor to
improve the mileage of lightweight electric vehicles (EVs).
Keywords— regenerative braking; mileage; efficient;
lightweight EVs; stator voltage; BLDC motor.
I. INTRODUCTION
Recently battery-operated electric vehicles (BEV’s) are
getting accepted due to rising cost of petrol, low emission,
quite operation and higher efficiency [1-3]. In Bangladesh
Lightweight electric vehicles (EVs) like rickshaws are
becoming trendier because of less physical effort and time to
drive [4]. Moreover no dependency on fuel results quite low
fare, which is very expedient for the traveler [5]. Due to higher
speed ranges, higher efficiency, better speed versus torque
characteristics and noiseless operation Brushless DC (BLDC)
Motor is becoming an attractive choice for EVs [6]. But a
major drawback of BLDC motor based EVs is consumption of
significant amount of electricity to charge the battery which
runs the motor [7]. In Bangladesh Most of the time EVs are
driving on busy traffic where drivers have to start and stop
frequently. This means lots of kinetic energy is lost as a heat
for using conventional mechanical braking system and reduce
battery backup time. In the heavy traffic condition of a busy
city, regenerative braking will be an effective way to extend
the driving range of EVs [8]. The regenerative brake is an
energy recovery mechanism which creates braking torque to
brake a EVs by energy conversion (kinetic to electrical
energy) and charges the battery [2-6]. Regenerative braking is
sometime realized by using the ultra-capacitor pack to absorb
the instantaneous braking energy [9-12]. To detect the
charging state of ultra-capacitors this method requires
additional switches and sensors. Additional discharge circuits
are also required for avoiding overcharge before the brake.
Thus the whole system becomes complicated, moreover, due
to the high price of ultra-capacitor pack; the cost of the
controller becomes high for this approach [9]. In some cases a
bidirectional DC-DC power converter is used for boosting
control in regenerative braking [9] [12]. Since the back
electromotive force (BEMF) is much lower than the battery's
terminal voltage, it needs to be boosted for charging the
battery pack. All those conventional approach increase the
cost and the size of the system and cause extra power losses.
So those systems are not suitable for low cost lightweight
electric vehicles.
Thus this paper proposes a braking technique for BLDC
motor which was proposed for PMDC motor in [13]. Based on
proposed method, regenerative braking of BLDC motor can be
achieved by applying different stator voltage. This new
method does not required complex converter with complex
switching technique and ultra-capacitor but only a low cost
rotary mechanical switch and a multi cell battery system from
where rotary mechanical switch will select different voltage
based on brake pedal position.
An experimental setup is used to verify the BLDC motor
based proposed braking technique with different loading
conditions. After analysis results show that proposed method
is feasible and effective for BLDC motor based lightweight
EVs. Due to simplicity and high efficiency proposed braking
system is superior compared to conventional braking system.
II. PROPOSED REGENERATIVE BRAKING OF BLDC MOTOR
The BLDC motor retains the characteristics of a PMDC
motor only commutation is done electronically. Fig.1 shows
the equivalent circuit of Y –connected 3-phase BLDC motor.
Fig. 1. Circuit diagram of Brushless DC (BLDC) motor

978-1-5386-3341-0/17/$31.00 ©2017 IEEE

 2nd International Conference on Electrical & Electronic Engineering (ICEEE), 19-21 December 2017, RUET, Rajshahi, Bangladesh
The common basic equations of BLDC motor for different
terminals are [10]
. (1)
. (2)
. (3)
In Steady-state condition equation (1) will be (for simplicity
considering only phase a)
. Movable load
Ia = (4)
The back EMF voltages are functions of the rotor mechanical
speed and motor torque are functions of stator phase current.
So there equations are
= Ke * φ * ω (5)
T a = Kt * φ * I a (6)
Ra= Rb = Rc Stator resistance of each phase in ohms
La=Lb = Lc Stator inductance of each phase in Henry
Ia, Ib, Ic ,= Stator phase current of each phase in ampere
Va, Vb,Vc = Stator phase voltage of each phase in volts
Ea, Eb,Ec = Back EMF voltage of each phase in volts
Ke= Back emf constant
T= Torque developed by the motor in N-m
Kt= Torque constant
= Rotor Mechanical speed
φ = field flux per pole (Weber)
Back E.M.F of BLDC is proportional to motor armature or
rotor Speed. Let us consider motor is running at rated speed N
RPM and create a back E.M.F voltages E. During this running
condition if motor stator terminal feed with a voltage Vt from
battery cell where Vt < E. then based on equation (4) IA < 0
that means motor will works as a generator (Regenerative
mode) and charge the battery cell (Which voltage is Vt) until
motor achieve a speed Nf and back E.M.F Ef where Ef = Vt.
Now based on equation (4) and (6) T<0 which indicates motor
will experience a braking torque during this regenerative mode
and from(5)comparative to difference of rotational speed N
and Nf. This extra rotational or kinetic energy is converted into
electrical energy and return back to the battery system. So an
effective regenerative braking system of BLDC motor can be
developed based on different stator terminal voltage technique
which is proposed here.
III. EXPERIMENTAL VERIFICATION
To verify this proposed technique an experimental setup is
used. This setup consist of a BLDC motor ,one fixed flywheel
of 36kg, three moveable flywheel of 15kg each, Multi cell
Battery system, rotary mechanical switch, a Motor driver, a
3phase diode rectifier, DC volt meter and a DC ammeter. Fig.
2 shows the actual constructions and Fig. 3 shows the circuit
diagram of experimental setup. As BLDC motor generates
3phase back E.M.F so rectifier connected at stator terminal
will rectify the back E.M.F which is necessary to transfer
energy from motor to battery cell. Moveable flywheel allows
changing the loading condition and Rotary mechanical switch
(RMS) will allows selecting different stator voltage from
Multi cell Battery system. For experimental verification of
proposed braking method it’s important to identify some key
parameters. In this research stator current, braking torque and
braking time are considered as a key parameters of braking
characteristics.
Basic load 36kg
BLDC Motor
Battery cell
Controller
Fig. 2. Experimental Setup for Proposed Braking of BLDC motor
Motor Driver
3phase rectifier
Rotary mechanical
switch
Multi cell battery
system
Fig. 3. Circuit diagram of Experimental setup of Brushless DC (BLDC) moto
Now based on section II let Vrs is a rated stator voltage and
Irs, Trs and Ers are the rated stator current, Torque and Back
E.M.F respectively for this BLDC motor. For regenerative
braking if stator voltage at A,B,C phase shifted from Vrs to Vb1
and Vrs to Vb2, Vb3 respectively where Ers > Vb1 > Vb2 > Vb3
then based on (4) lower stator voltage will create higher
braking current and based on (6) higher braking current will
create higher braking torque. On the other hands higher
braking torque will create higher deceleration and required
lower braking time to stop the vehicles. So during regenerative
braking lower braking time can be achieved by applying lower
stator voltage. In this research Three different stator terminal
voltage Vb1=6v, Vb2=4v and Vb3=1.5v are taken to feed the
 2nd International Conference on Electrical & Electronic Engineering (ICEEE), 19-21 December 2017, RUET, Rajshahi, Bangladesh
BLDC motor for practically examine the braking current and
braking time when motor are running in a rated speed at rated
stator voltage Vrs=48 V.
A. Regenerative Braking Current Characteristics of BLDC
Motor
Based on proposed method regenerative Braking current or
battery charging current of BLDC motor is also observed.
Experimental numerical data are presented in fig.8. In fig.8
braking current IST6 = -22A, IST4 = -31.5A and IST1.5 = -35A
where IST6, IST4 and IST1.5 are braking current during 6v, 4v and
1.5 volt regenerative braking respectively. Negative polarity
indicates that current will return back to the system during
braking.
Fig. 4. Regenerative Braking current at 36kg load
B. Proposed Regenerative Braking Characteristics
Regenerative braking characteristics can be represented by
braking time required to stop the vehicles. Braking time of
BLDC motor based on proposed method is presented in fig.4.
All figures are simulated based on numerical value taken from
experimental setup. From fig.4 it’s clear that regenerative
braking time during 6 volt stator voltage tRB6=1.81s.
Fig. 5. Proposed Regenerative Braking Characteristics of BLDC Motor.
Similarly the braking time for 4v and 1.5v stator voltage are
tRB4=1.63s and tRB1.5=1.13s respectively. Based on the
experimental data it can conclude that lower the applied stator
voltage lower the braking time. So different braking level like
high, low and medium brake can be achieve through proposed
regenerative braking system. Fig.4 clearly shows those
interpretations.
Fig. 6. Regenerative Braking time for different loading condition
Braking condition for different loading is also observed.
Experimentally 36kg, 51kg, 66kg and 81kg load are used to
verify the loading effect on regenerative braking time for the
same braking voltage.Fig.6 shows those observations.
C. Current Consumption Characteristics of Experimental
setup
Stator current consumption of BLDC motor for different
loading conditions is observed and numerical values are taken
during normal running condition. This observation helps to
characterize the current consumption of experimental setup
and calculation of energy utilization. Here current
consumption is divided into two parts. One transient period
where experimental setup takes high current with higher rate
of change and another saturation period where current is low
but constant. Fig.7 shows these observations.
Fig. 7. Current Consumption Characteristics of Experimental setup for
different load
 2nd International Conference on Electrical & Electronic Engineering (ICEEE), 19-21 December 2017, RUET, Rajshahi, Bangladesh
IV. RESULT
In section III experimental data of regenerative braking
current and braking time for BLDC motor are analyzed from
different aspect. Analysis proves that proposed regenerative
braking method is feasible and effective then ultra-capacitor
and boost converter based conventional braking system of
BLDC motor.
Now for simplicity, 1.5v regenerative braking with 36kg
load is considered for efficiency estimation. From the
experimental data the calculated energy recovery during 1.5v
regenerative braking with 36kg load is:
Power of regenerative Braking, PRB : 173.25w (average)
Energy of regenerative braking, ERB: 195.77j (average)
Same way energy consumption of experimental setup with
36kg load is calculated by analyzing the current consumption
characteristics at 36kg load. Table I shows this calculation.
TABLE I. POWER AND ENERGY CONSUMPTION OF EXPERIMENTAL
SETUP AT 36KG LOAD
Average Average
Period
Power(w) Energy(j)
During Transient period 211.28 422.569
During Saturation period 127.099 254.198
Total 338.379 678.767
From calculation it is very much clear that if a vehicle
with36kg load having proposed braking system using BLDC
motor and do brake to stop and again start to achieve rated
velocity, throughout this situation vehicle will consume
678.767j energy and 195.77j energy will return back to the
Battery. Fig.8 will clarify the energy consumption and
regeneration of proposed braking for stop and go driving
pattern in urban area. So the Efficiency of this proposed
method is 28.842%.That means driving range will increase
around 28.842% based on proposed method. Proposed method
is also comparative to [14].
Fig. 8. Energy Consumption and Regeneration During stop and go driving
pattern with different load
V. CONCLUSION
This paper has proposed BLDC motor based simple but
effective method of regenerative for BEV’s. After simulation
of experimental data authors find that proposed method can
enhance mileage around 28.842%.finally this paper proves
that regenerative braking based on Stator voltage control is
more effective and efficient then Ultra-capacitor and boost
converter based braking system. Further research will focus on
battery lifetime or health condition for proposed regenerative
braking system.
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