Comparison of Brushless DC Motor Drives with
180/120-degree Inverter Systems
Q. Han, N. Samoylenko, and J. Jatskevich
Department of Electrical and Computer Engineering
University of British Columbia
Vancouver, Canada
{qiangh, nikolays, jurij}@ece.ubc.ca
Abstract—This paper compares the brushless dc motors with
180/120-degree inverters and the average-value modelling of
these systems. In 180-degree inverters, each phase is always
connected to the dc source and the average voltages are readily
known. In 120-degree inverters, each phase is open-circuited for
a fraction of revolution resulting in discontinuous phase current
and different commutation-conduction patterns, which makes it
challenging to obtain an accurate average-value model. This
paper investigates the averaging approach that neglects the
commutation time, and shows that this approach may degrade
model accuracy when the stator resistance is relatively small. The
paper also suggests a new approach to overcome the limitations
of existing models.
Keywords- brushless dc motor; average-value model; 120-
degree inverter
I. INTRODUCTION
Three phase brushless dc motor (BLDM) inverters may
operate using 180- or 120-degree commutation methods,
whereas the latter method is very common for Hall-sensor-
driven machines. This paper considers an inverter circuit with a
permanent magnet synchronous machine (PMSM) as shown in
Figs. 1 and 2. A detailed model of this system, in which the
switching of each transistor and diode is represented, can be
readily constructed using various simulation tools [1]–[3].
However, for the purpose of extracting small-signal transfer-
function characteristics and/or large-signal system-level
transient studies, it is advantageous to use the so-called
average-value models (AVMs), where the effect of fast
switching is averaged within a prototypical switching interval
(60-degree for 3-phase machines). Unlike detailed switch-level
models, AVMs are continuous and can therefore be linearized
about a desired operating point. Thereafter, obtaining any local
transfer function and/or frequency-domain characteristics
becomes a straightforward procedure. This feature makes
AVMs indispensable for modeling and analysis of motor-drive
systems.
Derivation of AVMs requires careful averaging of the stator
phase voltages and currents over a prototypical switching
interval to obtain the corresponding average torque. In the 180-
degree inverter system, each phase is always connected to
either positive or negative terminal of the dc source and the
phase currents are always continuous. This is utilized in several
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0840-7789/07/$25.00 ©2007 IEEE
bs-=NEI 0
as' ωr
q-=NEI
cs
Sr bs θr
as-=NEI
bs' cs'
Nr
0 0!
as d-=NEI
cs-=NEI
Figure 1. PMSM with Hall sensors.
models proposed in the literature for the machines with
sinusoidal [4] and non-sinusoidal back emf [5], whereas for the
latter case the use of multiple reference frames has been
proposed. In the 120-degree inverter system, each phase is
allowed to be open-circuited for a fraction of revolution.
Depending on the firing offset angle and operating conditions,
the commutation-conduction pattern of currents may change
within a single switching interval giving rise to several distinct
operational modes documented in the literature [6]. Multiple
operational modes coupled with the difficulty in finding closed-
form analytical solutions for the averaged currents in
conduction and commutation sub-intervals make it challenging
to obtain an accurate AVM. In [7], the authors derived an
average-value model for the 120-degree BLDM inverter system
considering one dominant operating mode, neglecting the
commutation time and current.
This paper compares the characteristics of BLDM with
180/120-degree inverters, and describes the procedure for
developing AVMs. The AVM for 180-degree inverter is
straightforward and the model accuracy is verified by
simulation results. The challenges of developing an accurate
AVM for the 120-degree inverter are investigated. This paper
investigates the AVM proposed in [7] with different values of
stator resistance and shows that neglecting commutation
interval may give satisfactory results when the stator resistance
is relatively large, whereas the model accuracy significantly
degrades otherwise.
 idc S1 , S2 , S3 coincide with the Hall sensor outputs H1 , H 2 ,

  H 3 , and the lower transistors signals are complementary S 4 ,
S5 , S6 , as shown in Fig. 3 (a). When the motor is driven
vdc    according to the 120-degree logic, each transistor is turned on
60 degrees later using the Hall sensor signal of the preceding
   phase but is turned off as before according to the sensor in its
phase. Therefore, according to this logic, each phase is gated-
on for 120 degrees two times during a complete revolution.
This paper considers the BLDM prototype with parameters
summarized in the Appendix. The classical model in physical
+ + + coordinates uses the following assumptions [4]: (i) saturation is
vas ias vbs ibs vcs ics negligible; (ii) back emf is sinusoidal; (iii) eddy currents and
- - - hysteresis losses are negligible. The stator electrical dynamics
 

 





 are described by the following voltage equation

Figure 2. BLDM inverter circuit. dλ abcs

v abcs = rs i abcs + (1)
dt

{
0
5 5"
where f abcs = [ f as f bs f cs ]T , and f
180o-operation

may represent
0
5 5# voltage, current or flux linkage. The stator resistance matrix is

{
5! 5$ 0!
(a) rs = diag [rs , rs , rs ] . (2)

5 The flux linkage equation is

5
120o-operation

λ abcs = L s i abcs + λ ′m (3)

5!
where the inductance matrix and the rotor flux are
5"

5#  Lls + Lm − 0.5Lm − 0.5Lm 


L s =  − 0.5Lm Lls + Lm − 0.5Lm  (4)
5$
(b) θr + φ  − 0.5Lm − 0.5Lm Lls + Lm 
switching I II III IV V VI I
interval π π 5π 7π 3π 11π
6 2 6 6 2 6 sin θ r
 
Figure 3. Switching signals.


(
λ ′m = λm′ sin θ r − 120D ) .
(5)
(
sin θ r + 120D )
II. SYSTEM OPERATION AND DETAILED MODELING
The Hall-sensor-driven BLDM inverter system is a self- The developed electromagnetic torque is given by
commutating device. The Hall sensors are used to detect the
rotor position. Depending on the construction of a particular
PMSM, the Hall sensors may be mounted inside of the motor P ' 3 3 
case and interact directly with the rotor magnetic poles, or Te = λm  ias cos θ r + (ibs − ics )sin θ r  . (6)
2  2 2 
mounted outside and interact with magnetic poles of an
auxiliary magnet-tablet. The logical output signals from the
three Hall sensors H1 , H 2 , H 3 (see Fig. 1) are shifted in The mechanical subsystem is assumed here as a single rigid
body for which the dynamics may be expressed as
space by 120 electrical degrees and produce signals as depicted
in Fig. 3 (a). Here, the rotor position and the advance firing
angle are denoted by θ r and φ , respectively. If the motor is P Te − Tm
pω r = (7)
driven according to the 180-degree logic, the transistor signals 2 J

112
where ωr is the rotor angular speed, Tm is the mechanical 

ωH 

load torque, and J is the combined moment of inertia of the

load and the rotor. 

 
In AVM, the state variables should be constant in steady
state. Therefore, (1) is transformed to the qd -rotor reference

Te 
frame using Park’s Transformation, which results in

r
v qs = (rs + pLs )i qs
r r
+ ω r Ls i ds + ωr λ 'm

ids 
(8)

r
v ds = (rs + pLs )i ds
r r
− ωr Ls i qs
    
Replacing the variables in (8) with their fast averages over a  
switching interval (denoted by bar above) and rearranging the
terms yields Figure 5. Start-up transient of the 180-degree BLDM.

The AVM is formed by (9)–(11) with mechanical

r r r subsystem represented by (7). To demonstrate the performance
r vqs − rs iqs − ω r Ls ids − ω r λ 'm
piqs = and accuracy of this model, a start-up transient was simulated
Ls by both the detailed and the averaged models. In this case
(9)
r r r study, the motor accelerates from stall with a friction torque
r vds − rs ids − ω r Ls iqs
pids = T fric . As can be observed in Fig. 5, the AVM predicts the
Ls dynamic response very well.
The averaged developed electromagnetic torque is given by
IV. 120-DEGREE BLDM AVERAGE VALUE MODELING
 3P  r In 120-degree BLDM, the switching of the two transistors
Te =  λ miqs (10) in the same phase are not complementary, giving rise to two
 4  60-degree intervals per revolution when both transistors are
gated off. Typical phase voltage and current waveforms are
r
Eqs. (9)–(10) form the state model of the PMSM with vqs and shown in Fig. 6(a).
r   



vds as inputs. These voltages are determined by the inverter

and depend on the switching logic.
vbs

 s
 com


III. 180-DEGREE BLDM AVERAGE VALUE MODELING

ibs

Here, the switching transistors in the same inverter leg are 
 

complementary and the stator phase voltages are readily known
[4]. Typical phase voltage and current waveforms for this type Figure 6. Typical voltage and current waveforms for the 120-degree BLDM.
of inverter operation are shown in Fig. 4. The fast average of q-
and d-axes voltages may be expressed as [4]
Te (Nm) ωH (rad/s)

800

Detailed AVM
r 2
v qs = v dc cos φ 0
π (11)
r 2
v ds = v dc sin φ 8
π
0
50 60
ias (A) vas (V)

ids (A)

0 0
-50
-60
20 0 0.05 0.1 0.15 0.2
0 Time (s)
-20
Figure 7. Start-up transient of 120-degree BLDM: small stator resistance.
Figure 4. Phase voltage and current waveforms for the 180-degree BLDM.

113
 800 response. A second study, in which the stator resistance was
Te (Nm) ωH (rad/s)
increased to 0.8Ω , is shown in Fig. 8. This results in
400
Detailed AVM significant reduction of the stator current and torque during the
0 initial part of the transient, as well as the commutation interval
3 tcom . As can be noted in Fig. 8, the AVM now predicts the
2
transient trajectory quite well compared to the detailed
1
simulation. This limits the application of this AVM to the
0
BLDM with large stator resistance only.
10
ids (A)

0
-10
0 0.05 0.1 0.15
Time (s)
Figure 8. Start-up transient of 120-degree BLDM: large stator resistance.
The commutation-conduction pattern defines the
operational mode [6]. A simplified fragment of the phase
current ibs is depicted in Fig.6(b) wherein the switching
interval Ts is also shown. Since ibs is negative at the
beginning of the switching interval Ts and then goes to zero
and remains zero until the end of that interval, this mode is
referred to as negative-zero (NZ). Here, the commutation time
is denoted by tcom , whereas the conduction time is Ts − t com
during which the other two phases conduct the current. The
commutation time tcom depends on the motor parameters
(phase winding electrical time constant) and operating
conditions, but in general cannot be zero. Presence of this
operating-point-dependant factor makes it very difficult (if not
impossible) to derive a closed-form explicit analytical
expression for the average phase voltages and currents. The
authors of [8] proposed an implicit transcendental equation for
tcom , which requires iterative numerical solution.
If, however, the commutation time tcom is neglected –
assuming that gated-off phase current goes to zero
instantaneously at the beginning of each switching interval Ts ,
the average voltages in qd -rotor reference frame may be
expressed as [7]
r 3  π 1 3 3  π 
vqs = cosφ − vdc +  − cos 2φ − ω r λ'm
π  6  2 4π  3 
r 3  π 3 3  π
vds =− sin φ − vdc + sin 2φ − ω r λm
π  6 4π  3
Thereafter, the AVM is formed by (7), (9), (10) and (12). The
details of derivation of (12) can be found in [7].
The same start-up transient study has been implemented
with the 120-degree inverter assuming original motor
( rs = 0.15Ω ). The corresponding responses produced by
detailed and averaged models are compared in Fig. 7. As can
be observed, the AVM does not accurately predict the dynamic
V. CONCLUSION
Modeling the average behavior of BLDM inverter system is
0.2 of particular importance for analysis and control of
electromechanical systems with BLDM drives. The AVM for
the 180-degree BLDM is readily available. However, deriving
an accurate AVM for the 120-degree BLDM is challenging due
to the discontinuous mode of the phase current. The best
existing AVM [7] (as presently known to the authors) neglects
the commutation interval, and is therefore may not be
sufficiently accurate for many practical BLDMs. An alternative
AVM that completely overcomes these limitations is proposed
by the authors in the companion paper [9].
APPENDIX
Arrow Precision Motor Co., LTD., Model 86EMB3S98F-
B1, 36 VDC, 210 W, 2000 rpm, 8 poles, rs = 0.15Ω ,
L s = 0 .45 mH , λ 'm = 21.5mV ⋅ s , J = 1e − 3N ⋅ m ⋅ s 2 ,
T friction = 10 −7 ω r2 .
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