Sensorless BLDC Motor Control with BEMF Zero-Crossing Detection

Appropriate Phase
Comparator Output
selected

Zero Crossing event

detected

Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. Freescale Semiconductor, Inc. 2008.

TM

15

Sensorless Commutation and BEMF

0

60

120

180

240

300

360
Rotor Electrical Position (Degrees)

Phase R
Phase S
Phase T

Zero
crossings
PWM 1
PWM 3
PWM 5

PWM 2
PWM 4
PWM 6

Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. Freescale Semiconductor, Inc. 2008.

TM

16

BLDC Central Point Is Not Accessible

3-phase

invertor and DC bus current measurement

Inverter Stage

Udcbus

Not Accessible
Rshunt
Phase c

Idcbus

Phase b

BLDC
Motor
Phase a

Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. Freescale Semiconductor, Inc. 2008.

TM

17

BLDC Motor Voltages at Bipolar Switching Phases

1
-

Regeneration
2
-

-V

1
+

Q2 Q1
Q3

3
-

4
+

Regeneration
4

Q4
3

-I

PhC
PhA

PhB

VDCB

Motor Phase A Voltage

1

Motor Central Point

Voltage V0
1(4) Top Bottom
in diagonal on

Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. Freescale Semiconductor, Inc. 2008.

VDCB/2
GND

2(3) Top Bottom

in (inverse) diagonal on

TM

18

BLDC Motor Voltage at Unipolar Switching Phases

1
1 Top Bottom
in diagonal on

2
-

2 Two Bottoms on

3
3 Top Bottom
in diagonal on

One cycle
in Quadrant 1

4
+

4 Two Bottoms on
(inverse current)

One cycle
in Quadrant 3

Motor Phase Voltage

PhC
PhA

PhB

VDCB

Gnd

Motor Central Point

Voltage U0

Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. Freescale Semiconductor, Inc. 2008.

VDCB/2

TM

19

Zero Crossing Sensing Reference

HB1

A
V0

HB2

HB3

HB3

+
-

+
-

HB3

HB1

+
-

+
-

+
-

HB2

+
-

+
-

V0

+
-

Udcb

HB1

V0

HB2

+
-

UDCB reference

GND reference

Virtual CP reference
Udcbus

Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are
the property of their respective owners. Freescale Semiconductor, Inc. 2008.

HB1

HB3

V0

Idcbus

HB2

Rshunt

Motor
Central Point is
not accessible

BLDC

BLDC
Motor

TM

20