Torque Ripple Minimization via PWM Control Technique

with GaN-based Motor Drive

for High Speed Single Phase Brushless DC Motor
Woongkul Lee, Student Member, IEEE, Ju Hyung Kim, Student Member, IEEE,
Wooyoung Choi, Student Member, IEEE, and Bulent Sarlioglu1, Senior Member, IEEE
Electrical and Computer Engineering
Wisconsin Electric Machines and Power Electronics Consortium (WEMPEC)
University of Wisconsin – Madison
Madison, WI, USA
1
sarlioglu@wisc.edu

Abstract--This paper proposes a novel reference voltage

controlled pulse width modulation technique to minimize
the excitation torque ripple of a single-phase brushless DC
motor for high-speed applications. The proposed control
technique reduces output current ripple by modifying PWM
reference voltage rather than shifting input voltage phase.
The comparison results of output torque indicate that the
proposed control technique has 91.82% lower torque ripple
than that of the conventional control technique. The overall
efficiency of the motor is estimated taking account of the
motor and the motor drive related losses. The proposed
control achieves 1.5% higher efficiency due to the utilization
of gallium nitride (GaN) switching devices and the lower
Fig. 1. Torque-speed envelope of single phase brushless DC motor
rms phase current in high switching frequency operation.
with commutation pulse and phase advance control techniques to
achieve constant power operation (Ȧb – base speed).
Index Terms—GaN-based motor drive; high switching
frequency single-phase BLDC motor; torque ripple; techniques [2-5]. The cogging torque can be minimized
by utilizing novel and meticulous machine design
I. INTRODUCTION techniques such as notch, skewing, fractional slot per
pole, or optimization of the magnet arc and width [6-9].
A permanent magnet brushless DC (BLDC) motor has
In single-phase BLDC motors, the reduction of
been an interesting research topic because of its low
commutation torque ripple, which requires multiple
maintenance cost, long operating life, high efficiency,
phases, cannot be realized. It is also inevitable to have a
and extremely high speed operation capability compared
relatively high reluctance torque since the single-phase
to a conventional brushed DC motor. It is being widely
BLDC motors feature an asymmetric structure of airgap,
used in medical, automotive and consumer electronics
which enables a unidirectional rotation [10-11]. For these
industries including well-known applications of fans,
reasons, the torque ripple minimization of single-phase
compressors, and blowers.
BLDC motor is mainly associated with the reduction of
To further improve efficiency and mitigate vibration
the excitation torque ripple.
and noise issues of BLDC motors, various pulsating
One of the most commonly used excitation torque
torque minimization techniques have been extensively
ripple reduction techniques is phase advance control [12].
researched [1]. The pulsating torques of three and single-
Depending on the speed of the motor and input voltage
phase BLDC motors are classified in 4 different types as
level, the phase advance angle is determined using either
shown in Table I. In three phase BLDC motors, an
a phase advance circuit or a digital signal processor (DSP)
excitation torque ripple is relatively low but a
to compensate the current lagging effect caused by the
commutation torque ripple is problematic at every 60
stator winding inductance [13-15]. A closed-loop control
electrical degrees. To solve the commutation torque
can be implemented to minimize torque ripple and
ripple issue, a number of commutation torque ripple
achieve high efficiency when analytical model of a motor
reduction techniques have been proposed such as
is available [16]. Commutation pulse control
overlapping or pulse width modulation (PWM)
(freewheeling region) is the other control technique to
TABLE I counterbalance the current lagging effect and also, more
THE C LASSIFICATION OF PULSATING TORQUES OF T HREE AND
SINGLE -P HASE B RUSHLESS DC M OTORS importantly, to improve the overall efficiency of the
Pulsating torque Three-phase Single-phase motor drive by eliminating inefficient phase current [17].
Excitation Low High In a high speed single phase BLDC motor drive, both
Commutation Medium (Controllable) High (Not controllable) phase advance and commutation pulse controls are often
Cogging Low High used to achieve constant power operation with high
Reluctance Low (Surface-mounted) Medium (Uneven airgap)
efficiency as shown in Fig. 1 [17-18]; however, the phase

978-1-4673-7151-3/15/$31.00 ©2015 IEEE 4019


(a)
(b)
(c)
Fig. 2. The single-phase brushless DC motor control technique (șpa-
phase advance angle, șcp-commutation pulse modulation angle). (a)
Conventional control (synchronously fed). (b) Commutation pulse
modulation. (c) Commutation pulse modulation and phase advance
control.
advance technique has a negative effect on the excitation
torque ripple. When the input voltage is applied in
advance of the motor back-EMF zero crossing point, the
inverse back-EMF and forward phase current generate
negative torque.
In order to solve the issue, this paper proposes a novel
motor control technique based on commutation pulse and
PWM technique. Gallium nitride (GaN) power switching
device is applied to improve the overall efficiency of the
motor drive in high switching frequency operation [19].
The key contribution of this paper is that the proposed
control technique with GaN-based motor drive enables
the capability to achieve low excitation torque ripple with
high efficiency in wide speed operation range.
The paper is organized as follows: Section II describes
the general operating principle of a single phase BLDC
motor drive. In section III, the novel control technique is
proposed. Section IV highlights the benefits of the
proposed control technique emphasizing on phase
current, torque ripple, and efficiency analysis. A
conclusion is drawn in Section IV.
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II. OPERATION OF SINGLE-PHASE PERMANENT MAGNET
BRUSHLESS DC MOTOR DRIVE
The operation of single-phase brushless DC motor in
lower than base speed, Ȧb, is much simpler than high-
speed operation. The input voltage is applied through a
full-bridge inverter at the back-EMF zero crossing point
synchronously. However, as the speed of the motor
increases, the peak of the motor back-EMF becomes
closer to the input voltage level. This causes current
lagging as shown in Fig. 2(a). It can be explained through
the equation
di
vin = Rs is + Ls s + eback (1)
dt
where vin is the input voltage and Ls and Rs are the stator
winding inductance and resistance respectively. In (1),
the voltage drop due to the stator winding resistance is
small enough to be neglected so that the equation can be
simplified to
di
vin − eback = Ls s . (2)
dt
From equation (2), it can be noticed that as the speed of
the motor increases, the stator current differential, dis,
decreases. This will cause the severe current lagging as
shown in Fig. 2(a). Due to the distorted current, it
becomes more difficult to generate enough torque at the
high speed than the base speed. From this point, either
phase advance or commutation pulse modulation
techniques needs to be applied to increase the speed of
the motor over the base speed.
A. Commutation Pulse Modulation
The two most commonly used single-phase BLDC
motor control techniques for high-speed operation are:
commutation pulse modulation and phase advance
control. The commutation pulse modulation technique is
to control the width of the input voltage to minimize
current lagging effect as shown in Fig. 2(b). The input
voltage width can be controlled by șcp and it helps
keeping the input current zero before the next driving
cycle starts. The temporary zero input current causes the
discontinuity of the phase current that increases
commutation torque ripple. Using the commutation pulse
modulation technique, the high-speed operation can be
achieved but it is difficult to keep the output power
constant. To achieve constant power operation, phase
advance control needs to be implemented as well.
B. Phase Advance Control
The basic idea of phase advance control is to utilize
the inverse motor back-EMF to increase the stator current
differential, dis. As shown in Fig. 2(c), the input voltage
leads the motor back-EMF by șpa. During the leading
interval, the inverse motor back-EMF helps the motor
phase current to increase faster enough to compensate the
lagging effect. It can be noticed that the current lagging is
more compensated than that of Fig. 2(b). By applying the
phase advance control, the motor speed can be increased

(a)
(b)
Fig. 3. The overview of the proposed reference voltage controlled
(RVC) PWM technique and the motor drive schematic. (a) The
schematic of the single-phase BLDC motor drive. (b) RVC PWM
technique.
higher than the base speed. Depending on the machine
design and the specification of the motor drive, the peak
motor speed can reach 10 times higher than the base
speed. However, a severe excitation torque ripple
deteriorates the performance of the motor. The inverse
motor back-EMF and the forward motor phase current
generate negative power and therefore negative torque.
The negative torque will dramatically increase the output
torque ripple and the related issues such as vibration,
noise, and heat will occur as well. In addition, it will
degrade the overall efficiency of the motor drive system.
III. PROPOSED TORQUE RIPPLE MINIMIZATION PWM
CONTROL TECHNIQUE
The proposed control technique utilizes commutation
pulse modulation along with reference voltage controlled
(RVC) PWM to minimize excitation torque ripple. The
detailed operation and analytical modeling process are
described in the following subsections. The motor drive
and the motor equivalent circuit are shown in Fig. 3(a).
Due to the high switching frequency operation
(>150kHz), the output dv/dt filter is implemented to
prevent high core loss and stator winding insulation issue.
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A. Reference Voltage Controlled PWM
The commutation pulse modulation control technique
compensates current lagging effect and reduces the phase
current to zero before the next driving cycle starts as
shown in Fig. 2(b). The commutation angle is set to be
30° and it also eliminates current spike which degrades
the efficiency of the motor drive. Since the commutation
pulse modulation cannot provide constant power
operation, RVC PWM technique is applied to regulate the
input voltage of the motor and minimize the excitation
torque ripple. As shown in Fig. 3(b), the reference
voltage of the PWM is modified to minimize the phase
current spike. The duty cycle of the slope, șduty, is fixed at
120° and only the reference voltage ratio, ijv, is
controlled. The parameter, ijv, can be expressed
v
ϕ v = ramp (3)
vref _ peak
and it is dependent on the speed of the motor, Ȧrpm, and
the peak of the reference voltage, vref_peak.
B. Analytical Modeling
To evaluate the performance of the RVC PWM, the
half cycle phase current of the single-phase BLDC motor
is mathematically calculated. This analytical model can
also be used to define the relationship between the peak
reference voltage, vref_peak, and the motor speed, Ȧrpm, with
ijv for closed loop control. The half cycle is divided into
three modes as shown in Fig. 3(b) and the calculation is
carried out under the following assumption:
1) The stator winding resistance is neglected
1 t2
is = ³ vin − eback dt + is _ ini . (4)
Ls t1
2) The initial current of the half cycle is always zero.
3) The motor back-EMF is trapezoidal and has 1:4:1
ratio (Mode 1:Mode 2:Mode 3).
4) șduty is fixed at 120° and only ijv is controlled to
achieve RVC PWM.
5) The commutation pulse modulation angle, șcp is
fixed at 30°.
6) The phase current calculation is based on (4).
ƒ Mode 1 [0° < Ȧradt < 30°]
In mode 1, the input voltage is constant at the peak
reference voltage and the motor back-EMF increases
linearly. As stated in the assumption, the initial phase
current is zero.
vin = vref _ peak (5)
6K eω rpmω rad t
eback = (6)
π
is _ ini = 0 (7)
The given values (5-7) are substituted into (4), which
yields
1 3K eω rpmω rad 2
is = (Vref _ peak t − t ). (8)
Ls π
 (a) (a)

(b)
Fig. 4. Theoretically calculated half cycle phase current of single-phase
BLDC motor A with various input voltage levels and reference voltage
ratio, ijv (LS = 60 ȝH, Ȧrad = 95,000 rpm). (a) Phase current waveforms
with commutation pulse modulation angle of 30° with conventional
PWM for input voltage regulation. (b) Phase current waveforms with
commutation pulse modulation angle of 30° with RVC PWM.
(b)
Fig. 5. Theoretically calculated half cycle phase current of single-phase
BLDC motor B with various input voltage levels and reference voltage
ratio, ijv (LS = 40 ȝH, Ȧrad = 95,000 rpm). (a) Phase current waveforms
with commutation pulse modulation angle of 30° with conventional
PWM for input voltage regulation. (b) Phase current waveforms with
commutation pulse modulation angle of 30° with RVC PWM.

ƒ Mode 2 [30° < Ȧradt < 150°] ƒ Mode 3 [150° < Ȧradt < 180°]
In mode 2, the input voltage linearly decreases with In mode 3, the input voltage is the sum of the negative
the reference voltage ratio, ijv, and the motor back-EMF vin_peak and the negative two times of the body diode
is constant at the peak. The initial phase current is the forward voltage drop, Vf. This is due to the freewheeling
same with the final phase current value of mode 1. region where all the switches are off and the phase
vramp = vref _ peakϕ v (9) current flows through the body diodes of the switches.
Since the body diode forward voltage drop of a GaN
3vramp π device is almost 3 times higher than that of a Si device, it
vin = vref _ peak − (ω rad t − ) (10)
2π 6 should not be neglected. The motor back-EMF decreases
eback = K eω rpm (11) linearly. The initial phase current is the same with the
final phase current value of mode 2.
is _ ini = is _ m1_ final (12)
The given values (9-12) are substituted into (4), which vin = −(vin _ peak + 2V f ) (14)
yields 6K eω rpm 5π
1 vramp 3vrampω rad 2 eback = K eω rpm − (ω rad t − ) (15)
is = [(Vref _ peak + − K eω rpm )t − t ] + is _ ini . π 6
Ls 4 4π is _ ini = is _ m2 _ final (16)
(13)
The given values (14-16) are substituted into (4), which
yields
1 3K eω rpmω rad 2
is = [(vin − 6K eω rpm )t + t ] + is _ ini .
Ls π
(17)

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Fig. 6. Theoretically calculated torque-speed envelopes of single-phase
BLDC motor A and B (ȦbA and ȦbB are the base speed of motor A and
B respectively).
IV. PERFORMANCE ANALYSIS OF THE PROPOSED
CONTROL TECHNIQUE
To evaluate the performance of the proposed control
technique, the phase current, torque ripple and efficiency
analysis are conducted. The analytical model is used for
phase current analysis and the circuit simulation tool,
LTspice, is used for torque ripple and efficiency
calculation. The single-phase BLDC motor A is
controlled with commutation pulse modulation and phase
advance control and the single-phase BLDC motor B is
controlled with the proposed control technique.
A. Phase Current Analysis
Using (8), (13), and (17), the half cycle phase current
is calculated and plotted in Fig. 4 and 5. The specification
of the target motors and the GaN device used in the motor
drive are described in Table II and III. The speed of the
motor is 95,000 rpm, which yields the half cycle time
period of 315.79 ȝs. The Fig. 4(a) and 5(a) show phase
current waveforms with input voltage from 18 V to 23 V
in increments of 1 V and commutation pulse modulation
angle is set to be 30°. It is noticed that there are severe
current distortion and current spike, which increase the
output torque ripple. It is also noted that the single-phase
BLDC motor B with the lower stator winding inductance
has 45% higher phase current. Especially when the input
voltage is 23 V, the current distortion is the highest and
the peak current is almost 45 A, which is higher than the
selected GaN device current limit. It is noted that due to
the high peak current, it is required to implement power
switching devices with the higher current rating, which
will cost more than the devices with the lower current
rating.
TABLE II
SPECIFICATION OF S INGLE PHASE B RUSHLESS DC M OTOR
Ls Rs
Singe-phase BLDC Motor A 60 ȝH 30 mȍ
Singe-phase BLDC Motor B 40 ȝH 30 mȍ
TABLE III
C HARACTERISTICS OF GA N SWITCHING DEVICE
IDS
Part
VDS RDS VGS
Number Pulsed
Cont.
(T=300ȝs)
EPC2015 40 V 4 mȍ 33 A 150 A 5V
(a)
(b)
Fig. 7. Comparison of output torque envelops and Fourier analysis
results. (a) Commutation pulse modulation and phase advance control
techniques (Pout = 167.17 W, șpa = 6°, șcp = 3.6°). (b) Proposed control
technique (Pout = 162.87 W, șcp = 14.4°, ijv = 0.14).
Fig. 4(b) and 5(b) show the phase current waveforms
with RVC PWM. The current spike is minimized and the
peak current is decreased to 21A and 32 A respectively
when the input voltage is 23 V, which is within the GaN
device current limit. Furthermore, the shape of the phase
current is close to quasi-square wave, which can generate
the maximum output power and the minimum torque
ripple with the trapezoidal motor back-EMF. It is also
realized that the reference voltage ratio, ijv, has the linear
relationship with the input voltage. ijv is also dependent
on the speed of the motor so it is required to be further
investigated for closed loop control.
The analytical model and the simulation are used to
plot torque-speed waveforms of singe-phase BLDC
motor A and B in Fig. 6. The specification of the motors
is provided in Table II. The difference between motor A
and B is that the motor B has a lower stator winding
inductance. Since the proposed control technique is not
Ke using phase advance control, which helps to minimize the
0.19 mV/rpm
current lagging effect, it would be more effective to
0.19 mV/rpm
control a motor with the lower stator winding inductance.
The lower stator winding inductance will increase the
peak of the phase current but it can be regulated with
TJ RVC PWM.
The torque-speed waveform of the motor A is obtained
-40 to 150 °C by applying commutation pulse modulation and phase
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advance control. The torque-speed waveform of the
motor B is obtained by applying commutation pulse
modulation and RVC PWM. Since the phase current can
be controlled by the PWM, the torque-speed waveform
has more flexibility. It is also possible to track the torque-
speed envelope of motor A with less torque ripple with
the proposed control technique.
B. Torque Ripple Analysis
The output torque envelopes of the single-phase
BLDC motor A and B are plotted in Fig. 7. The output
power of the motor A and B are 167.17 W and 162.87 W
respectively and the motor speed is 95,000 rpm. The
torque ripple is calculated using
T −T
Tripple = max min × 100 (18)
Tavg
.
Fourier analysis is also conducted to investigate the Fig. 8. Estimation of power losses in single-phase BLDC motor A and
harmonic components of the output torque. B (Pout_A = 167.55 W, Pout_B = 168.97 W).
The Fig. 7(a) and (b) show the output torque and
Fourier analysis result of single-phase BLDC motor A
C. Efficiency Analysis
with commutation pulse modulation and phase advance
control and single-phase BLDC motor B with the The estimation of the power losses to calculate the
proposed control technique respectively. The average overall efficiency of the motor drive system is shown in
torque of the motor A is 16.80 mNm with torque ripple of Fig. 8. The switching and conduction losses of the power
232.55%. The torque ripple of the motor B, which is devices, stator winding resistance loss, and sensing
140.73% with 16.37 mNm average torque, is 1.65 times resistor loss are calculated through a circuit simulation
lower than that of the motor A. The motor A generates tool, LTspice, and the core loss is estimated by a FEM
higher torque ripple due to the high peak torque, 38.03 software, Maxwell.
mNm, and the negative torque, 1.04 mNm, caused by The power switch loss of the motor B is 1.83 W higher
phase advance control. The peak torque of the motor B is that that of the motor A due to the 126 times higher
reduced to 20.9 mNm through RVC PWM, which is 1.82 switching frequency. In case of the stator winding
times lower than that of the motor A. resistance loss, the motor B has 47% lower loss, which is
The Fourier analysis of the output torque also clearly 3.41 W, than that of the motor A due to the lower rms
shows the benefit of the proposed control technique. First phase current. The stator winding rms phase current of
of all, the zero order harmonic, which is equivalent to the the motor B is 9.43 A and the motor A has 15.60 A rms
DC component, is the same with the average torque in phase current. The sensing resistor loss is lower in the
both motor A and B. The first and third order harmonics motor A but the difference is almost negligible. The core
are reduced by 24% and 47% respectively in the motor B losses are estimated to be the same due to the
compared to the motor A. These harmonics are highly implementation of the dv/dt filter in the motor B.
related to the commutation ripple torque and the Based on the estimation of the losses in the motor A
asymmetry of the each output torque pulse. The second and B, the overall motor drive system efficiency is
harmonic of the motor B, which is associated with the calculated. The motor A has the efficiency of 89.84% and
symmetry of the output torque pulse, is 87.4% higher the motor B has 91.34%. The motor B achieves 1.5%
than that of the motor A. These analysis results show that higher efficiency and it is mainly due to the implantation
the output torque pulse of the motor B is closer to a of the proposed control technique, which reduces the rms
quasi-square wave than that of the motor A as seen in phase current by 40%.
Fig. 7. The summary of the comparison results of 4
different control techniques is presented in Table IV.
TABLE IV
THE SUMMARY OF S INGLE -P HASE B RUSHLESS DC M OTOR C ONTROL TECHNIQUE IN H IGH -SPEED R EGION
Commutation pulse Commutation pulse
Synchronously fed Commutation pulse
with phase advance with RVC PWM
High speed operation No Yes Yes Yes
Commutation torque ripple High High Medium Medium
Excitation torque ripple High Medium High Low
Negative torque No No Yes No
Power control No No Yes Yes
Speed range Narrow Medium Wide Wide

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 V. CONCLUSION
The novel control technique of single-phase brushless
DC motor for high-speed applications is proposed. The
half cycle phase current is analytically calculated to
verify the benefits of the proposed control technique. The
new control technique minimizes the output torque ripple
by 91.82% and improves the overall motor drive system
efficiency by 1.5%. The proposed approach is also
applicable to three phase or phase-decoupling brushless
DC motor for high-speed applications.
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