How to modify this model parameters so that the BLDC motor can track both positive and negative speed reference signals?

I need to build an electric support leg based on BLDC technology. I found this model within the community and decided to use it.

使用 PWM 为 BLDC 转速控制设计自抗扰控制 - MATLAB & Simulink

I modified its reference signal to a sine wave with an amplitude of 100 and a frequency of 0.5 rad/s.

And I noticed that the motor in this model tracks positive velocity reference signals very well; however, when given a negative velocity reference signal, it enters an “idle” state.

How to modify this model parameters so that the BLDC motor can track both positive and negative speed reference signals? Thank you for your response!

[Mathieu NOE]

hello

funny that the measured position is so noisy and cannot go down to zero

seems there is a good (better ? ) example here : BLDC Position Control

[奇]

Thank you for your reply. I'll give your suggestion a try. Thank you.

Answer 1

[Sabin]

To achieve negative speed you have to change the commutation logic. Check out this Simscape electrical example about how to drive the BLDC in both forward and reverse direction:

https://www.mathworks.com/help/sps/ug/bldc-speed-control.html

[奇]

Thank you for your reply. Much appreciated.