How to change Simulink "default permanant magnet motor example" to have a two way direction rotation (for position control purpose) ?

Dear community: I want to have a position control simulation with Simulink. I opened the "power_brushlessDCmotor" example as you see below:

as you see in this example we have a speed control purpose. To have position control, I changed the example to the following one: (trying to add reverse rotation mechanism to obtain perfect position control):

the problem is: in reverse rotating direction, the rotor angle position response is not the same as opposite direction(and also has vibrations) although it seems to be the same because I've swapped phases A&B for reverse direction. I think the problem is caused by "Hall effect decoder" as the decoding algorithm is not the same for reverse&normal directions. This means that you can't simply swap two output phases of inverter to have a reversed rotation. to download The modified example visit the attachment.

Answer 1

[Siamak]

Thats incorrect,just you need to add direction to the communion Siamak Atar