I.

INTRODUCTION
The brushless DC motor, which emerged as the
development of technology of electronics, is a new kind of DC
motor, and it is also the important part of modern industry [1].
Because of its reliability of operation, brushless DC motor has
been widely used in many special areas, such as aerospace and
mining.
At present, the common control technology of BLDCM is
the classical PI control theory [2]. As the BLDCM is a
high-order and nonlinear system, the PI control which is linear
can not reach the control requirements.
The Variable Structure Sliding Mode Control (VSSMC)
is nonlinear, and it is widely used in DC motor control
systems because of its better robustness. Deal with the special
configuration of BLDCM, this paper offers a new kind of
control system, the double closed-loop BLDCM control
system based on variable structure sliding mode, and
simulation experiment are used to verify the validity of the
system.
II. THE BLDCM MODEL
The dynamic balance equation of the BLDCM is
described as
a
u a a a
di
u k i R L
dt
= + + (1)
where,
a
L ,
a
R ,
u
k and denote the armature inductance,
armature resistance, motor constant and the motor shaft
angular speed.
The mechanical equation is described as
em t a l
d
T k i T B J
dt

= = + + (2)
where,
l
T is the external load and
t
k is the torque constant. B
and J denote the viscous friction coefficient and inertia
constant of the motor, respectively.

1
0
1
0
a u
a a a a a
l
t
R k
i u i L L L
T
k B
J J J





= +

(3)
Choosing
a
i and as the state variables, the following
state equation is obtained.
Using Laplace transform in (3), and assuming that
(0) 0
a
i = , (0) 0 = , we can get the equation as following,
( ) ( )
( )
( ) ( )
( )
u
a
a a
t a l
k s U s
I s
L s R
k I s T s
s
Js B

+
=

+
(4)
According to (4), the block schematic of brushless DC
motor is given by Fig.1.

1
a a
L s R +
1
Js B +
t
k
u
k
U
a
a

l
T

Fig.1 the block schematic of brushless DC motor
III. THE VARIABLE STRUCTURE SLIDING MODE
CONTROLLER
The design of variable structure sliding mode controller
may go through two stages, first, the switching function,
which makes the motion equations work satisfactorily, and
second, the approach law, which meets the arrive condition of
the sliding mode.
A The controller of the speed loop
The sliding surface of the speed loop is designed as follow,
( *) s ce c

= =

5
where, c is a positive constant.
We choose the approach law as follow, and it meets the
arrive condition of the sliding mode.
( ) 0 s sign s = , >

6
According to (6), we have,
( )
( ) 0
t l
a
K T B
s ce c i
J J J
sign s

= =
= , >


7
assuming that c J = , we can get,
( ) , 0
t a l
s ce Ki B T
sign s

= =
= >


8
list systematically
Double Closed-loop Brushless DC Motor Control Based on Variable Structure
Sliding Mode
Yuanfeng Huang
1, 2
Haifeng Wang
1
Guobiao Gu
1

1
Institute of Electrical Engineering in Chinese Academy of Sciences, Beijing
2
Graduate University of Chinese Academy of Science, Beijing
E-mail: huangyuanfeng08@mail.iee.ac.cn

0
0
l
t t t
a
l
t t t
T B
s
K K K
i
T B
s
K K K

+ , >

+ + , <

9
The dc motor has the following parameters,
2
0.009 , 0.554, 5, 0.08
t u
J kg m K K B = = = = =
Substituting the parameters into the equation (9), we can get
the control low of the speed loop as follow,
0.144 1.8 9 0
0.144 1.8 9 0
l
a
l
T s
i
T s

+ , >
=

+ + , >

10
B The controller of the circuit loop
The sliding surface of the circuit loop is designed as
follow,
*
( )
i a a
s ce c i i = =

11
where, c is a positive constant.
According to (6), we have,
( ) 0
a u
i a
a a a
cR cK cu
s ce i
L L L
sign s

= = +
= >


12
assuming that 1 c = , we can get,
( ), 0
a u
a a
a a a
R K u
s ci i
L L L
sign s

= = +
= >

13
list systematically
0
0
a a u a
a a u a
R i K L s
u
R i K L s


+ , >
=

+ + , >

14
The dc motor has the following parameters,
0.83 , 0.003 , 0.554, 50
a a u
R L H K = = = =
Substituting the parameters into the equation (9), we can get
the control law of the circuit loop as follow,
0.83 0.554 0.15 0
0.83 0.554 0.15 0
a
a
i s
u
i s

+ , >
=

+ + , >

15
IV. SIMLATION AND DISCUSSION
Based on the control laws of the speed loop and circuit
loop, simulation studies have been carried out by MATLAB.
The variable structure control system of the speed loop is
given by Fig.2, and the control system of the circuit loop is
given by Fig.3.

Fig.2 the control system of the speed loop(VSC1)

Fig.3 the control system of the circuit loop (VSC2)
Using two contrrol modules to show the control systems
mentioned in Fig.2 and Fig.3, and adding the mathematical
model of BLDCM into the system, we can get the total control
scheme of the system in Fig.4.

Fig.4 the total control scheme of the system
Through the MATLAB/Simulink simulation, the result is
given by Fig.5.

Fig.5 the simulation curses of the speed and circuit
From Fig.5, we can see that the VSC can improve the
system response speed. When applied load suddenly, the
speed of motor has a modest decrease, but it recovers rapidly.
Meanwhile, the circuit tends to increase in equal increments as
the load increase.
V. CONCLUSION
In this paper, a new way has been shown to control
Brushless DC motor. Experiment and simulation results
demonstrate the VSC, compared with the traditional PI
control, can improve dynamic quality effectively, and the
system achieves excellent tracking performance. It illustrates a
good prospect of application and extension.
VI. REFERENCES
[1] Zhen Yuan , Haifeng Wang, Jie Yang, and Guobiao Gu, Research on
Torque Balance of Permanent-Magnet Brushless DC motor,
Proceedings of ICEMS, 2007, pp. 786-788.
[2] S Edward Lyshevski, Control of High-performance Permanent-Magnet.
Synchronous Motors For Underwater Vehicls. Proceedings of The
American Control Conference, Chicago, Illinois June 2000