{"id":11184,"date":"2021-02-14T08:09:21","date_gmt":"2021-02-14T13:09:21","guid":{"rendered":"http:\/\/engineersgarag-main\/?p=918275"},"modified":"2023-06-29T15:17:43","modified_gmt":"2023-06-29T19:17:43","slug":"controlling-a-bldc-motor-with-an-esc","status":"publish","type":"post","link":"https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/","title":{"rendered":"Controlling a BLDC Motor with an ESC"},"content":{"rendered":"<p style=\"text-align: justify;\"><strong><u>REQUIREMENTS:<\/u><\/strong><\/p>\n<div>1. Microcontroller (AtMega 16)<\/div>\n<div>2. A Brushless DC motor (BLDC)<\/div>\n<div>3. An Electronic Speed Controller (ESC)<\/div>\n<div><span style=\"font-size: 12.8px;\">4. Power source to drive the motor (LiPo battery)<\/span><\/div>\n<div><\/div>\n<p style=\"text-align: justify;\"><strong style=\"font-size: 12.7272720336914px;\"><u>DESCRIPTION:<\/u><\/strong><\/p>\n<div>Brushless motors have much more satisfying results as compared to brushed motors. The basic difference between them is that in a brushless motor, the rotor itself contains the permanent magnets and the electromagnets move to the stator which is quite opposite as seen in a brushed motors. It&#8217;s more precise and can also factor the speed of the motor into the equation. This makes brushless motors more efficient as there is no sparking, less electrical noise and no brushes to wear out. With the electromagnets on the stator, they are very easy to cool. You can have a lot of electromagnets on the stator for more precise control. The only disadvantage of a brushless motor is its higher initial cost, but you can often recover that cost through the greater efficiency over the life of the motor.<\/div>\n<div><\/div>\n<div>Now when we talk about controlling these motors I would like to introduce a new term, \u00a0i.e. ESC which stands for Electronic Speed Controllers. As the name suggests, they control the speed of brushless DC motors using some electronic protocol. These ESCs need a command to work further. In this project I\u2019m sending these commands using a microcontroller, AtMega 16. You might be thinking what these command could be? Don\u2019t worry, if you have ever dealt with servo motors before, you\u2019ll be able to control these BLDC motors very easily. Most of the ESCs need a 50Hz frequency i.e. a 20 ms cycle and the speed depends upon the duty cycle you provide. 1ms will reduce its speed to minimum or even stop it (it depend upon the ESC model) while a 2ms pulse will run the motor on its full speed. The values between them give you a variation in speed.<\/div>\n<table cellspacing=\"0\" cellpadding=\"0\">\n<tbody>\n<tr>\n<td height=\"49\">\n<table width=\"100%\" cellspacing=\"0\" cellpadding=\"0\">\n<tbody>\n<tr>\n<td>\n<p style=\"text-align: center;\"><img decoding=\"async\" style=\"display: block; margin-left: auto; margin-right: auto;\" title=\"Prototype of AVR ATMega16 based Brushless DC Motor Controller\" src=\"https:\/\/www.engineersgarage.com\/wp-content\/uploads\/2019\/07\/Prototype-AVR-ATMega16-Brushless-DC-Motor-Controller.jpg\" alt=\"Prototype of AVR ATMega16 based Brushless DC Motor Controller\" \/><\/p>\n<div style=\"text-align: center;\"><span style=\"font-size: 12.8000001907349px;\">Project Setup<\/span><\/div>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>&nbsp;<\/p>\n<p style=\"text-align: center;\"><span style=\"font-family: verdana,geneva,sans-serif;\"><em>Fig. 1:\u00a0Prototype of AVR ATMega16 based Brushless DC Motor Controller<\/em><\/span><\/p>\n<p style=\"text-align: center;\">\n<style type=\"text\/css\">\n<!--td {border: 1px solid #ccc;}br {mso-data-placement:same-cell;}--><\/style>\n<\/p>\n<table cellspacing=\"0\" cellpadding=\"0\">\n<tbody>\n<tr>\n<td height=\"49\">\n<table width=\"100%\" cellspacing=\"0\" cellpadding=\"0\">\n<tbody>\n<tr>\n<td>\n<p align=\"center\"><img decoding=\"async\" title=\"Image of Brushless DC Motor\" src=\"https:\/\/www.engineersgarage.com\/wp-content\/uploads\/2019\/07\/Image-Brushless-DC-Motor.jpg\" alt=\"Image of Brushless DC Motor\" \/><\/p>\n<p style=\"text-align: center;\"><span style=\"font-size: 12.7272720336914px;\">BLDC Motor<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<table cellspacing=\"0\" cellpadding=\"0\">\n<tbody>\n<tr>\n<td height=\"49\">\n<p style=\"text-align: center;\"><span style=\"font-family: verdana,geneva,sans-serif;\"><em>Fig. 2:\u00a0<\/em><\/span><\/p>\n<p style=\"text-align: justify;\">\n<style type=\"text\/css\">\n<!--td {border: 1px solid #ccc;}br {mso-data-placement:same-cell;}--><\/style>\n<\/p>\n<p><span style=\"font-family: verdana,geneva,sans-serif;\"><em><span data-sheets-userformat=\"{&quot;2&quot;:8393217,&quot;3&quot;:[null,0],&quot;12&quot;:0,&quot;15&quot;:&quot;Arial, sans-serif&quot;,&quot;26&quot;:400}\" data-sheets-value=\"{&quot;1&quot;:2,&quot;2&quot;:&quot;Image of Brushless DC Motor&quot;}\">Image of Brushless DC Motor<\/span><\/em><\/span><\/p>\n<p style=\"text-align: justify;\"><img decoding=\"async\" title=\"Image of Electronic Speed Controller\" src=\"https:\/\/www.engineersgarage.com\/wp-content\/uploads\/2019\/07\/Image-Electronic-Speed-Controller.jpg\" alt=\"Image of Electronic Speed Controller\" \/><\/p>\n<table width=\"100%\" cellspacing=\"0\" cellpadding=\"0\">\n<tbody>\n<tr>\n<td>\n<div>\n<p style=\"text-align: center;\">Electronic Speed Controller<\/p>\n<\/div>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<div style=\"text-align: center;\"><span style=\"font-family: verdana,geneva,sans-serif;\"><em>Fig. 3:\u00a0<span style=\"font-size: 10pt;\">Image of Electronic Speed Controller<\/span><\/em><\/span><\/div>\n<div><\/div>\n<p style=\"text-align: center;\">\n<style type=\"text\/css\">\n<!--td {border: 1px solid #ccc;}br {mso-data-placement:same-cell;}--><\/style>\n<\/p>\n<div>Let me tell you something about the connections involved here. An ESC needs a power source to work with (this source will also provide power to the motor). I have used a Lithium Polymer battery (11.1V) here. Now at the input side, apart from the battery need, it requires a signal which I have connected to the OC1A pin (PD5). This is the Timer1_A output; I\u2019ll talk about it in the later part. Next comes the output section with 3 pins A, B and C. These pins correspond to the 3 pins of the BLDC motor. The motor \u00a0in use comes with three wires with \u00a0in colours: yellow, black and red. You need to connect A to yellow, B to black and C to the red one. In case you find your motor running in opposite direction of what you want, just interchange yellow and red wires.<\/div>\n<div><\/div>\n<div>Timer1 in AtMega 16 is a 16 bit timer i.e. it can count up to 65535 starting from zero. The reason I have used this timer and not timer0 or timer2 is that these are 8 bit timers and can count up to 255. When we want a 20 ms cycle we need a value of 20,000 counts (0-19999). As you can see this value cannot be accommodated in any 8 bit timer therefore I have switched over 16 bit one. One great thing about 16 bit timers is that you can set the \u00a0top value between 0-65535. Timer 1 is further divided into two individual 16 bit timers A and B. This project uses the \u2018A\u2019 part of timer 1. Also, values corresponding to 1ms and 2 ms \u00a0are 1000 and 2000 respectively.<\/div>\n<div><\/div>\n<div>When you\u2019ll watch the video you\u2019ll notice that I have controlled the speed using a potentiometer (10K pot). This potentiometer provides the analog value which is read by the PORTA_0 pin. This value then determines the value between 1000 and 2000, as discussed above.<\/div>\n<div><\/div>\n<div>On practically dealing with the motor that I have used; it was written in its datasheet that it requires a 1ms pulse for a duration of few seconds or until motor responds with a signal (you\u2019ll understand it better when you\u2019ll watch the video part). This indicates that the motor is now ready for those commands \u00a0discussed earlier.<\/div>\n<div><\/div>\n<div><\/div>\n<p style=\"text-align: justify;\"><strong><u>APPLICATIONS:<\/u><\/strong><\/p>\n<div>\u2022 These motors play the most important role in making of any aerial vehicle like UAVs or quad copters etc.<\/div>\n<div>\u2022 BLDC can also be seen in RC (remote control) cars and aircrafts.<\/div>\n","protected":false},"excerpt":{"rendered":"<p>Brushless motors have much more satisfying results as compared to brushed motors. The basic difference between them is that in a brushless motor, the rotor itself contains the permanent magnets and the electromagnets move to the stator which is quite opposite as seen in a brushed motors. It&#8217;s more precise and can also factor the speed of the motor into the equation. This makes brushless motors more efficient. There is no sparking and much less electrical noise. There are no brushes to wear out. With the electromagnets on the stator, they are very easy to cool. You can have a lot of electromagnets on the stator for more precise control. The only disadvantage of a brushless motor is its higher initial cost, but you can often recover that cost through the greater efficiency over the life of the motor.<\/p>\n","protected":false},"author":78,"featured_media":50929,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"_genesis_hide_title":false,"_genesis_hide_breadcrumbs":false,"_genesis_hide_singular_image":false,"_genesis_hide_footer_widgets":false,"_genesis_custom_body_class":"","_genesis_custom_post_class":"","_genesis_layout":"","footnotes":""},"categories":[4043,13],"tags":[218,1281],"class_list":{"2":"type-post","11":"entry","12":"has-post-thumbnail"},"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO Premium plugin v25.2 (Yoast SEO v25.2) - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Controlling a BLDC Motor with an ESC<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Controlling a BLDC Motor with an ESC\" \/>\n<meta property=\"og:description\" content=\"Brushless motors have much more satisfying results as compared to brushed motors. The basic difference between them is that in a brushless motor, the rotor itself contains the permanent magnets and the electromagnets move to the stator which is quite opposite as seen in a brushed motors. It&#039;s more precise and can also factor the speed of the motor into the equation. This makes brushless motors more efficient. There is no sparking and much less electrical noise. There are no brushes to wear out. With the electromagnets on the stator, they are very easy to cool. You can have a lot of electromagnets on the stator for more precise control. 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The basic difference between them is that in a brushless motor, the rotor itself contains the permanent magnets and the electromagnets move to the stator which is quite opposite as seen in a brushed motors. It's more precise and can also factor the speed of the motor into the equation. This makes brushless motors more efficient. There is no sparking and much less electrical noise. There are no brushes to wear out. With the electromagnets on the stator, they are very easy to cool. You can have a lot of electromagnets on the stator for more precise control. The only disadvantage of a brushless motor is its higher initial cost, but you can often recover that cost through the greater efficiency over the life of the motor.","og_url":"https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/","og_site_name":"Engineers Garage","article_publisher":"https:\/\/www.facebook.com\/engineersgarage","og_image":[{"width":600,"height":530,"url":"https:\/\/www.engineersgarage.com\/wp-content\/uploads\/2019\/07\/Prototype-AVR-ATMega16-Brushless-DC-Motor-Controller.jpg","type":"image\/jpeg"}],"author":"Gurmeet Singh","twitter_card":"summary_large_image","twitter_creator":"@EngineersGarage","twitter_site":"@EngineersGarage","twitter_misc":{"Written by":"Gurmeet Singh","Est. reading time":"4 minutes"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"Article","@id":"https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/#article","isPartOf":{"@id":"https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/"},"author":{"name":"Gurmeet Singh","@id":"https:\/\/www.engineersgarage.com\/#\/schema\/person\/d611894dcf2dc79703c079fd6e69153d"},"headline":"Controlling a BLDC Motor with an ESC","datePublished":"2021-02-14T13:09:21+00:00","dateModified":"2023-06-29T19:17:43+00:00","mainEntityOfPage":{"@id":"https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/"},"wordCount":755,"commentCount":0,"publisher":{"@id":"https:\/\/www.engineersgarage.com\/#organization"},"image":{"@id":"https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/#primaryimage"},"thumbnailUrl":"https:\/\/www.engineersgarage.com\/wp-content\/uploads\/2019\/07\/Prototype-AVR-ATMega16-Brushless-DC-Motor-Controller.jpg","keywords":["avr","electric motor"],"articleSection":["AVR","Electronic Projects"],"inLanguage":"en-US","potentialAction":[{"@type":"CommentAction","name":"Comment","target":["https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/#respond"]}]},{"@type":"WebPage","@id":"https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/","url":"https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/","name":"Controlling a BLDC Motor with an ESC","isPartOf":{"@id":"https:\/\/www.engineersgarage.com\/#website"},"primaryImageOfPage":{"@id":"https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/#primaryimage"},"image":{"@id":"https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/#primaryimage"},"thumbnailUrl":"https:\/\/www.engineersgarage.com\/wp-content\/uploads\/2019\/07\/Prototype-AVR-ATMega16-Brushless-DC-Motor-Controller.jpg","datePublished":"2021-02-14T13:09:21+00:00","dateModified":"2023-06-29T19:17:43+00:00","breadcrumb":{"@id":"https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/#breadcrumb"},"inLanguage":"en-US","potentialAction":[{"@type":"ReadAction","target":["https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/"]}]},{"@type":"ImageObject","inLanguage":"en-US","@id":"https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/#primaryimage","url":"https:\/\/www.engineersgarage.com\/wp-content\/uploads\/2019\/07\/Prototype-AVR-ATMega16-Brushless-DC-Motor-Controller.jpg","contentUrl":"https:\/\/www.engineersgarage.com\/wp-content\/uploads\/2019\/07\/Prototype-AVR-ATMega16-Brushless-DC-Motor-Controller.jpg","width":600,"height":530,"caption":""},{"@type":"BreadcrumbList","@id":"https:\/\/www.engineersgarage.com\/controlling-a-bldc-motor-with-an-esc\/#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"Home","item":"https:\/\/www.engineersgarage.com\/"},{"@type":"ListItem","position":2,"name":"Controlling a BLDC Motor with an ESC"}]},{"@type":"WebSite","@id":"https:\/\/www.engineersgarage.com\/#website","url":"https:\/\/www.engineersgarage.com\/","name":"Engineers Garage","description":"Electronic Projects, Electrical Engineering Resources, Makers Articles and Product News","publisher":{"@id":"https:\/\/www.engineersgarage.com\/#organization"},"potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/www.engineersgarage.com\/?s={search_term_string}"},"query-input":{"@type":"PropertyValueSpecification","valueRequired":true,"valueName":"search_term_string"}}],"inLanguage":"en-US"},{"@type":"Organization","@id":"https:\/\/www.engineersgarage.com\/#organization","name":"Engineer's Garage - 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