Proceedings of the Third International Conference on Electronics Communication and Aerospace Technology [ICECA 2019]
IEEE Conference Record # 45616; IEEE Xplore ISBN: 978-1-7281-0167-5
Direct Torque Control of BLDC Drives With
Reduced Torque Pulsations
Tilak Raj Sharma
Department of Electrical Engineering
NIT Kurukshetra
National Institute of technology
Kurukshetra,India
sharma.tilak314@gmail.com
Abstract— This paper illustrates the direct torque control
strategy for a non-salient pole brushless DC motor (BLDC)
having non-sinusoidal back emf (EMF). In the literature, a few
strategies have been put forth for BLDC motor drives to
acquire ideal current as well as torque control with minimal
torque ripple. Majority of the strategies are confounded and
high speed operation with them is not feasible because stator
flux linkage control has not been considered. In this paper, a
uncomplicated and effective approach is portrayed to obtain
ripple free torque at low frequency and maximum efficiency.
The proposed technology intently takes after the previously
used DTC approach used for sinusoidal AC motors to such an
extent that it controls the torque under direct control scheme
and flux amplitude of the stator under indirect scheme.
Moreover, to reduce the low frequency torque pulsations,
electrical rotor position is determined separately and then
transmuted into dq-reference frame equivalents with the help
of park transformations. Then torque can be estimated by
setting them up in the look-up table. Simulation results
validate the superiority of DTC scheme over other
conventional schemes as it results in decreased torque ripple
and hence gives better and faster dynamic response.
Keywords—Stator flux control, Brushless dc (BLDC) motor,
non-sinusoidal back-emf, low frequency torque ripple, fast torque
response, switching table, direct torque control (DTC), flux
estimator.
I. INTRODUCTION
The advancement in permanent magnets has instigated
enactment of PMBLAC and PMBLDC drives. These drives
are popular because they are used in many operations
ranging from position control in servos to high power
traction drives. They are having high torque density,
enhanced efficiency, uplifted torque to inertia ratio, high
pull out torque and great ease in controlling them[1].
The only difference between PMBLAC and PMBLDC is
in their back EMF and current waveforms. The back EMF
wave shape is sinusoidal in case of brushless AC drives
whereas, in case of BLDC motor, back EMF waveform
shape is trapezoidal and their phase current waveforms are
rectangular in shape. BLDC motors are cheaper than BLAC
or PWSM’s because their stator winding is concentrated [2].
The major consequence of BLDC motor is its higher torque
pulsations which arises because of the feeding system and
construction of the machine. Machine construction leads to
imperfections in waveforms which arises due to the cogging
torque. Switching sequence and phase current commutation
are some of those originating from the feeding system.
Implementation of DTC scheme to BLDC motor drives with
conduction angle of 120 degrees is proposed in [3,4]. In this
978-1-7281-0167-5/19/$31.00 ©2019 IEEE
Yash Pal
Department of Electrical Engineering
NIT Kurukshetra
National Institute of technology
Kurukshetra,India
yash_pal1971@yahoo.com
method, the torque is measured with the help of estimated
value of stator flux and measured current. We can also
estimate the torque and stator flux linkage by collating
evaluated and preset values of torque as well as stator flux
linkage and passing them through hysteresis controller. The
vector position of the stator flux along with electromagnetic
torque and flux errors in stator decides the switching
algorithm of the inverter. We obtain the voltage vector from
a Look-up table which is based upon mechanical position of
rotor as well as is autonomous of stator phase current in
addition to back-EMF. This will give rise to higher torque
pulsations and switching frequency[5]. The basic problem
we encounter in DTC strategy is torque and flux pulsations
due to which parameters estimation is consequently
required. So, therefore, we need to control the torque ripple
in order to control the speed as well as shaft position of the
drive. Electromagnetic torque variations can be reduced by
employing zero voltage vectors in inverter switching and
this results in higher and most frequent spikes on the phase
voltages, high common mode voltages and high switching
losses. In case of DTC fed IM drives, SVM technique is
employed to reduce the torque pulsations. While in case of
Brushless DC motor, the torque pulsations depends on the
back EMF and current waveforms and a pulsating torque is
generated due to their non-ideal effects. Some of the
controllers such as PI controllers are used to restraint the
torque ripple which is originated due to commutation torque
ripple and back EMF which is trapezoidal in shape but it is
not so effective in improving the performance required for
various applications[6,7]. Many more control algorithms
have been employed so as to enhance the enactment of
drive. Some of them are adaptive control, current harmonics
injection techniques, observers and estimators, already
programmed current controllers etc. We can modify the
conventional PWM technique and then can use it in order to
hold the torque ripple at a minimal value. Flux deadbeat
enabled space vector modulation scheme enables to lessen
the torque ripple when employed in sensor less BLDC
drives[8,9]. Some of the schemes employ zero vector in
order to control the torque again. But then also it is not
better than SVM technique as the angular position of the
rotor flux and stator flux is not modified in case of zero
vector scheme resulting in controlling of torque only.
Hence, SVM gives much better results. Moreover, in order
to abolish the low frequency torque oscillations, as per
electrical rotor position, two genuine also effectively
accessible line back emf constants are acquired separately
and transformed over to the dq frame parameters with the
help of park transformation. The torque can be calculated by
putting them up in a switching table. In order to control
1242
 Proceedings of the Third International Conference on Electronics Communication and Aerospace Technology [ICECA 2019]
IEEE Conference Record # 45616; IEEE Xplore ISBN: 978-1-7281-0167-5

torque ripple in steady state, we can adjust the hysteresis

bandwidth. We can also increase the switching frequency by
deploying hysteresis controller in all phases of current
controlled inverter. Takahashi and Noguchi[d10] and
Depenbrock[11] were the first ones to introduce DTC
scheme based induction motor drives in the mid-1980’s.
Then after a decade, it was studied for surface mounted
PWSM drives and now it is extended to BLDC motor
drives. In DTC control of BLDC motor drives, only
electromagnetic torque can be controlled. Flux cannot be
controlled by this method because of the sharp changes in
flux waveforms and their unpredictable amplitudes due to
the various parameters like winding inductance, dc-link
voltage, load-torque and many more. Simulation results
validate the effectiveness of DTC controlled BLDC motor
drive.

II. BASIC PRINCIPLE OF DTC

Direct torque control was primarily put forth for IM drives

by Takahashi and Noguchi and Depenbrock in 1980’s. Its Fig 1. Voltage Space Vectors
basic aim was to supervise the speed and torque of
Induction motor drives. Then this method gained popularity The error in torque and flux linkage must be maintained
over the other conventional methods because of its modified beyond specified bands in order to obtain the faster
control scheme and simple implementation[12]. response. Proper selection of voltage vectors also lessens the
harmonic losses and provides low inverter switching
In DTC scheme, the estimated and reference flux linkage frequency. The requisite optimal switching vectors is chosen
and torque are assimilated and the difference is determined by the use of optimum switching table[15]. It is achieved by
which is further used to select the voltage vectors. We can basic contemplations which includes determining accurate
use hysteresis comparator to compare the torque and flux position of space vector of flux linkage of stator, the
linkage errors and depending upon the output, we can obtain needed torque flux linkage, the accessible switching vectors.
the voltage vectors from the look-up table. There are six The control strategy induces a control signal originating
voltage vectors by which the torque can be increased or from the torque error. The control signal acquire values
decreased. Those six possible VSV’s are shown in fig 1. At limited to the hysteresis band at a particular instance. The
point, when there is a negative torque error then estimated basic implementation of DTC strategy for Brushless DC
value of the actual torque must be diminished and motor is displayed in figure 2.
consequently we will pick voltage space vector which is in
inverse of the rotation of reference stator flux. Similarly,
when there is a positive torque error, at that point, the
estimated value of the actual torque must be increased and
subsequently we will pick voltage space vector which is in
same direction of rotation of reference stator flux[13]. The
voltage vector selection also reckon on the sectors given as
Qi (for i = 1,2,3,4,5,6) in which the rotor is also existent.
This can be understood with the help of the switching table
given as Table 1.

Winding inductances and stationary stator flux linkage and

currents are used to estimate the electrical rotor position. We
can also use PI controllers instead of hysteresis controllers
because PI controllers have a very fast response. But the
hysteresis controllers not only regulate the constant
reference values of torque and flux but also the varying
ones[14]. Voltage vectors estimated from the look-up table
must be used to regulate torque and flux linkage directly and
unassisted.

Fig 2. DTC controlled BLDC drive

978-1-7281-0167-5/19/$31.00 ©2019 IEEE 1243

 Proceedings of the Third International Conference on Electronics Communication and Aerospace Technology [ICECA 2019]
IEEE Conference Record # 45616; IEEE Xplore ISBN: 978-1-7281-0167-5

III. DIRECT TORQUE CONTROL OF BLDC MOTOR TABLE 1

A. Line-To-Line Clarke and Park Transformation in SWITCHING TABLE FOR TWO PHASE VOLTAGE
2  2 matrix VECTOR SELECTION

There is no zero sequence term in dq- axis reference frame Ψ τ θ

because it is a balanced system. Firstly, we will determine θ(1) θ(2) θ(3) θ(4) θ(5) θ(6)
the line-to-line Clarke transformation matrix with the help of
balanced 3 phase quantities then a 2  2 matrix is obtained
1 1 E1 E2 E3 E4 E5 E6
in place of a 2  3 matrix using line-to-line park -1 E6 E1 E2 E3 E4 E5
transformation[16]. 0 1 E2 E3 E4 E5 E6 E1
-1 E5 E6 E1 E2 E3 E4
After doing some manipulations, the previous 2  3 matrix
-1 1 E3 E4 E5 E6 E1 E2
precluding zero sequence term is reduced to 2  2 matrix as
follows: -1 E4 E5 E6 E1 E2 E3

 1 1 
3 
3  B. Flux and Torque Estimation
[TLL]   
 3 3 When the permanent magnet brushless machine is operating
   in d-q reference frame which is synchronously rotating then
 3 3  (1) after disdaining the mutual coupling between the direct and
The above mentioned matrix need only two input quadrature axis, its electromagnetic torque is expressed as:
variables ( Xba, Xca) where X is representing the machine
3 p  dLd d   dL d  
variables such as voltages, flux linkages, currents, back Te   isd  rd  sq  isd   q isq  rq  sd  isq  (7)
emf’s etc. 2 2  de de   de de  
Also, Xba  Xb  Xa (2)
Xca  Xc  Xa (3) where,

Now, we have to do the inverse of the previous Clarke  sd  Ld isd  rd (8)

transformation matrix [T  ] which is further used to obtain
 sq  Lq isq  rq (9)
a park transformation matrix. After removing the zero
sequence term, [T  ] is a non-square matrix now but its and e is electrical rotor angle, P denotes total poles, isd is
pseudo inverse can still be found out as it is a singular
matrix. d- axis current and isq is q- axis current, and  rd is d- axis
rotor flux linkage and  sd is d- axis stator flux linkage,  rq
[T  ]  [T  ]T ([T  ][T  ]T ) 1 (4) is q- axis rotor flux linkage and  sq is q- axis stator flux
 T
where [T  ] is inverse matrix and [T  ] linkage.
is transpose matrix. Moreover, for non-salient pole machines, it is presumed
that Ld and Lq are constant i.e Lq = Ld 0 , Lq = Lq 0 .
We can also represent abc to ba-ca transformation as
follows: Now the electromagnetic torque can be expressed as :
Xa 
 X ba  3 p  d rd   d  
[T  ] [T  ]  X b   [T  ] TLL    (5) Te  
2 2  de
 rq  isd   rq  rd  isq   Ld 0  Lq 0  isd isq  (10)
  de  
 X c   X ca 
There are some cases which need to be considered.
After expanding(3) and multiplying it by the original 2  3
1. if stator flux linkage varies sinusoidally because of
park transformation matrix on both sides, we will have to
perform some algebraic manipulations which further leads presence of permanent magnets,  rd is invariant.
d rq = 0.
to simplifications using some trigonometric identities.  rq = 0, d rd = 0, and
Hence, desirable 2  2 park transformation matrix form is: d e d e
Now the electromagnetic torque equation (for
      Brushless DC and Brushless AC) with both salient
 sin      sin     
Xd  2  6  6    X ba  and non-salient pole operation reduces to
X      (6)
 q  3   cos      cos        X ca  Te 
3 p
 sd isq  sqisd  (11)
     22
  6  6 

978-1-7281-0167-5/19/$31.00 ©2019 IEEE 1244

 Proceedings of the Third International Conference on Electronics Communication and Aerospace Technology [ICECA 2019]
IEEE Conference Record # 45616; IEEE Xplore ISBN: 978-1-7281-0167-5

In    frame, it can be described as of the stator is extracted from the estimated stator voltages
u s , u s and the currents is , is  .
3 p
Te 
22
 s is  s is  (12)
 s    us  Rs is  dt (23)
where is is α- axis stator current , is  is β- axis stator
 s    us  Rs is  dt (24)
current and  s is α- axis stator flux linkage ,  s  is β-
axis stator flux linkage , viz. Where the stator winding resistance is denoted as Rs .
 s   sd cos  e  sq sin  e (13) The magnitude of stator flux linkage vector can be
described by:
 s   sq cos e  sd sin  e (14)
   2 s  2 s (25)
is  isd cos  e  isq sin  e (15)
and the angular position is obtained as
is  isq cos  e  isd sin e (16)
 s
  arctan (26)
Moreover, In case of BLDC motor, There is non-sinusoidal  s
stator flux linkage. So, torque equation (7) is used, since
d rd d rq We can deduce the rotor flux linkage with the help of stator
 0,  0. flux linkage. For a non-salient permanent magnet rotor, it is
d e d e described by
2. When stator flux linkage is non-sinusoidal for a  r   s  Lsis (27)
non- salient pole BLDC motor, since Ld 0 = Lq 0 =
 r    s  Ls is (28)
Ls , the torque equation is modified as:
We can also calculate the torque from equation (18).
3 p  d rd   d   However, complexity in calculation can be omitted by pre-
Te    rq  isd   rq  rd  isq  (17) determining the differential terms in (18) with the help of
2 2  d e   d e   back-emf considering that the emf is in accordance to the
rotor speed.
θe
in rotating d-q axis frame, Δωm ΔTe dTe
Source
Te*
ωm* - PI -
3 p  d r   d r    (18) Te
Te    is    is  ωm Switching
2 2  d e   d e   Vector
DC
AC
Selection
   reference frame where  r is ΔΨs
Ψs* dΨs
In stationary +
-
Switching
signals

α- axis rotor flux linkage and  r  is β- axis rotor Ψs θe

flux linkage, viz. Vabc
Ψs
 r   rd cos  e  rq sin  e
Vabc αβ0 Torque
(19) & Te
Iabc
Flux
Iabc abc estimator BLDC
 r    rq cos e  rd sin  e
Mechanical
θe
(20) Rs
Load

ωm
However, if the same condition is applied to BLAC Fig.3. Control scheme of DTC of Brushless DC motor
motor,  rd =  m ,  rq = 0 and torque equation reduces to

3 p Figure 3 demonstrates the control scheme of DTC of a

Te   misq (21) Brushless DC motor which is actually analogous to DTC of
22 Brushless AC motor. The only difference between them is in
While in case of stationary reference frame, it becomes their look-up table and torque estimation. When reference
frame is stationary, the flux linkage of the stator can be
3 p
 s is  s is 
estimated with the help of sampled currents and voltages
Te  (22) undergoing stationary reference frame transformation. Rotor
22 flux can be obtained from (27) and (28), we can also get
The enactment of DTC for Brushless DC drives depends torque and stator flux linkage from (25) and (18),
upon the flux-linkage observer. Stator flux linkage vectors respectively. Then the speed is obtained from the rotor
position sensors. This feedback speed is collated to the
reference speed and torque command is generated after

978-1-7281-0167-5/19/$31.00 ©2019 IEEE 1245

 Proceedings of the Third International Conference on Electronics Communication and Aerospace Technology [ICECA 2019]
IEEE Conference Record # 45616; IEEE Xplore ISBN: 978-1-7281-0167-5

passing speed error through PI regulator. Then measured Fig. 5 In case of conventional scheme (a) Phase current (b)
torque and stator flux linkage are collated with their preset Estimated electromagnetic torque
values then torque and flux command is originated by
passing torque and flux error via. hysteresis controllers.
Stator flux linkage and torque will determine switching
pattern of inverter from the output of two PI regulators.
TABLE II
SPECIFICATION OF BLDC MOTOR
MOTOR PARAMETERS VALUES
No. of Pole (p) 10
No. of Slots 12
(a)
DC link voltage 36
Rated speed(rpm) 400
Excitation flux(wb) 0.0793
Phase resistance(Ω) 0.34
Self- inductance(mH) 4.64
Mutual-inductance(mH) 0.0024

IV. SIMULATION RESULTS

(b)
Figure 6 In case of proposed scheme (a) phase current (b)
Estimated electromagnetic torque

The enactment of DTC to a Brushless DC drive is approved

Fig.4 Line and phase back EMF of Brushless DC motor
with the help of simulations and estimations for the non-
salient pole type BLDC motor, whose specifications are
mentioned in Table II. This motor has combination of
fractional slot and pole number namely 10 poles and 12
slots. The winding here is of concentrated type. However,
the torque should be calculated from equation (18) because
the shape of its back-emf is trapezoidal.

A great agreement is accomplished among the simulated

and measured results. Also, In 120 degree conduction, phase
current and back emf are intrinsically opposite in each 60
degree sectors so as to achieve invariant electromagnetic
torque. In BLDC motor, the conventional PWM current
control will lead to a significant and a low-frequency torque
pulsation as displayed with the help of simulations.

Furthermore, it should be kept in mind that due to

(a) presence of winding inductances and PWM inverters,
simulated results consist of high frequency torque pulsations
While, low frequency torque ripple which would have been
originated from the conventional vector control has been
demolished by using optimization techniques for phase
current which follows the back-emf .

IV. CONCLUSION

This paper affluently demonstrates the enactment of DTC

controlled BLDC drives and simulations result validate its
(b) utility for the non-salient pole BLDC motor. In this control

978-1-7281-0167-5/19/$31.00 ©2019 IEEE 1246

 Proceedings of the Third International Conference on Electronics Communication and Aerospace Technology [ICECA 2019]
IEEE Conference Record # 45616; IEEE Xplore ISBN: 978-1-7281-0167-5
scheme, the appropriate switching signals are extracted with
the help of look-up table which will restrain the torque error
within the specified hysteresis band. This is done with the
help of rotor flux vector position and torque error where
rotor flux vector position is reckoned with the help of rotor
flux observer. This scheme imparts supremacy of
conventional Direct Torque Control such as faster torque
response as collated to vector control. It has been
demonstrated that the DTC is proficient in momentary
torque control and hence eliminating torque ripples.
REFERENCES
[1] J. R. Hendershort Jr and T. J. E. Miller, Design of Brushless
Permanent-Magnet Motors. Oxford, U.K.: Magana
Physics/Clarendon, 1994.
[2] S. K. Chung, H. S. Kim, C. G. Kim, and M. J. Youn, “A new
instantaneous torque control of PM synchronous motor for high-
performance direct-drive applications,” IEEE Trans. Power Electron.,
vol. 13, no. 3,pp. 388–400, May 1998.
[3] S. B. Ozturk and H. A. Toliyat” Direct Torque Control of Brushless
DC Motor with Non-sinusoidal Back-EMF”, IEE Proc. 2007.
[4] T. Kim, B.K. Lee, and M. Ehsani," Sensorless Control of the BLDC
Motors From Near Zero to High Speed." IEEE Proc. 2003.
[5] Y. Liu, Z. Q. Zhu, D. Howe “Direct torque control of brushless DC
drives with reduced torque ripple”, IEEE Trans. Ind. App. vol.41,
no.2, pp 599-608.March/April 2005.
[6] S. J. Kang and S. K. Sul, “Direct torque control of brushless DC
motor with nonideal trapezoidal back-emf,” IEEE Trans. Power
Electron., vol.10, no. 6, pp. 796–802, Nov. 1995.
978-1-7281-0167-5/19/$31.00 ©2019 IEEE
[7] J.-H. Lee, S.-C. Ahn, and D.-S. Hyun, “A BLDCM drive with
trapezoidal back EMF using four-switch three phase inverter,” in
Proc. IEEE IAS Annu. Meet., Oct. 8–12, 2000, vol. 3, pp. 1705–1709.
[8] M. Hajian, J. Soltani, G. A. Markadeh, and S. Hosseinnia,
“Adaptivenonlinear direct torque control of sensorless IM drives with
efficiency optimization,” IEEE Trans. Ind. Electron., vol. 57, no. 3,
pp. 975–985,Mar. 2010.
[9] B. El Badsi, B. Bouzidi, and A. Masmoudi, “Bus-clamping based
DTC:An attempt to reduce harmonic distortion and switching losses,”
IEEE Trans. Ind. Electron., vol. 60, no. 3, pp. 873–884,Mar. 2013.
[10] I. Takahashi and T. Noguchi, “A new quick-response and high-
efficiency control strategies of an induction motor,” IEEE Trans. Ind.
Appl., vol. 22,no. 5, pp. 820–827, Sep./Oct. 1986.
[11] M. Depenbrock, “Direct self-control of inverter-fed induction
machine,”IEEE Trans. Power Electron., vol. 3, no. 4, pp. 420–429,
Oct. 1988.
[12] C. French and P. Acarnley, “Direct torque control of permanent
magnet drives,” IEEE Trans. Ind. Appl., vol. 32, no. 5, pp. 1080–
1088, Sep./Oct.1996.
[13] S.-H. Park, T.-S. Kim, S.-C. Ahn, and D.-S. Hyun, “A simple current
control algorithm for torque ripple reduction of brushless dc motor
using four-switch three-phase inverter,” in Proc. IEEE PESC Annu.
Meet., Jun.15–19, 2003, vol. 2, pp. 574–579.
[14] Mourad Masmoudi, Bassem El Badsi, and Ahmed Masmoudi “DTC
of B4 Inverter Fed BLDC Motor Drives With Reduced Torque Ripple
During Sector to Sector Commutations” IEEE Transactions on Power
Electronics, vol. 29, no. 9, pp. 4855-4865, september 2014.
[15] Tomy Sebastian and Vineetha Gangla, “Analysis of Induced EMF
Waveforms and Torque Ripple in a Brushless Permanent Magnet
Machine”, IEEE Trans. Industrial Applications, Vol. 32, No 1,
January/February 1996.
[16] Mourad Masmoudi, Bassem El Badsi, and Ahmed Masmoudi “Direct
Torque Control of Brushless DC Motor Drives with Improved
Reliability” IEEE Trans. Power Electron., vol. 26, no. 1, pp. 235-248,
Jan.2011.
1247