ICIIS'2017 1570363491

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Modelling and Simulation Analysis of the
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Genetic-Fuzzy Controller for Speed Regulation
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8   of a Sensored BLDC Motor Using
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MATLAB/SIMULINK
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14   H.R. Jayetileke1, W.R. de Mel2, H.U.W. Ratnayake3
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16   Dept. of Mechanical Engineering1,2
Dept. of Electrical & Computer Engineering3
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The Open University of Sri Lanka, Nugegoda, Sri Lanka.
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hrjay@ou.ac.lk1, wrmel@ou.ac.lk2
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udithaw@ou.ac.lk3
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22   Abstract—This paper presents the speed regulation of a because of their advantages compared to the conventional DC
23   Sensored BLDC (Brushless Direct Current) Motor through a brushed motors and due to the rapid development and reliability
24   Genetic-Fuzzy controller, where the Sensored BLDC motor was assessments of power electronics devices and power
25   modeled in MATLAB Simulink environment according to State- semiconductor technology [1]. BLDC motor is a permanent
26   Space analysis approach. magnet synchronized machine (PMSM) which has many
27   When designing Fuzzy Logic controllers (FLCs) there is no attractive characteristics such as high instantaneous torque,
28   generalized defined approach and these controllers are mainly noiseless high dynamic response, high efficiency, long operating
29   based on linguistically defined variables which are non-linear life period, wider range of speed vs. torque properties and linear
30   elements, that are impossible to model accurately. Our test results relationship between voltage and angular velocity (r.p.m.) as a
31   shows that the fuzzy controller’s output highly depends on the result of using permanent magnets rather than using windings in
32   fuzzy rules. In some situations, very experienced and a skillful the rotor. Eliminating mechanical commutator system from a
33   expert’s solutions (fuzzy rules) even may not satisfy the desired BLDC motor could avoid the periodic maintenance, electric
output. In many cases FLCs rule bases have been designed sparks, acoustic noises and carbon particles coming from brushes
34   according to trial-and-error method which makes the optimization due to eventually wear.
35   of the solution very difficult.
36   There are two types of BLDC motors: Sensored BLDC
37   As a solution, FLC of the Sensored BLDC motor was tuned motors and Sensorless BLDC motors. Sensored BLDC motors
through a stochastic search optimization technique which is based are categorized into Trapezoidal type and Sinusoidal type BLDC
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on GA (Genetic Algorithm) and the GA parameters (Crossover, motors based on their Counter Electromotive Force or Back
39   Mutation rates etc.) adapted through another TSK-FLC (Takagi-
40   Electromotive Force (Back EMF) output wave patterns
Sugeno-Kang type FLC) in real-time. The optimization stochastic
41   (Trapezoidal type BLDC motor and Sinusoidal type BLDC
search process was implemented using a fitness function index (i.e.
motor Back EMF outputs are Trapezoidal and Sinusoidal
42   a predefined threshold level) which is calculated from the
population (randomly generated solutions by the GA) based on the respectively). The logic signals which were generated through
43   the Hall Effect sensors in the feedback loop is directly
44   E (Error), MAE (Mean Absolute Error) and the RMSE (Root
Mean Square Error). The simulated test results shows the proportional to the rotor position and it is connected to the solid-
45   state switches through the motor driver to control the input
proposed control technique has effectively reduced the maximum
46   overshoot, settling time, steady state error and the rise time by current flow direction to the BLDC motor as mentioned in Fig. 1
47   12%, 15%, 11% and 1% respectively. But further research is and Table 1. These rotor position detection Hall Effect sensors
48   needed to optimize the search algorithm to increase the Genetic- and the current flow direction control Solid-State switches are
49   Fuzzy controller’s efficiency and the stability to withstand external placed in an inner closed loop path. The BLDC motor is driven
50   disturbances while increasing the frequency for various desired by a DC voltage source where the DC output voltage level is
51   input signal wave pattern trajectories. controlled through the proposed Genetic-Fuzzy controller
52   Keywords—artificial intelligence; fuzzy inference system; according to the desired input speed level while taking into
53   linguistic fuzzy values; genetic algorithm; crossover; mutation; account the actual rotor speed of the BLDC motor. Actual rotor
54   objective function. speed was measured through a Taco generator. All these DC
55   I. INTRODUCTION voltage source, Genetic-Fuzzy controller and the Taco generator
was placed in an outer closed loop path as in Fig. 2. For this
56   In the modern automobile, locomotive and in industrial proposed AI controller, a Trapezoidal type Sensored BLDC
57   automation applications BLDC motors are significantly utilized motor was selected to model the State-Space in Matlab Simulink
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63   978-1-5386-1676-5/17/$31.00 ©2017 IEEE
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1
 Fig. 1. BLDC Motor driver arrangement
non-linearity conditions and untuned parameters (mainly the FL
because it is used for variety of applications due its simple rules). The main GA-Fuzzy controller was built in a Matlab “.m
construction, low cost, high efficiency and high robustness. The file” and was connected to the Simulink model through an
literature shows that, genetic algorithms (GAs) have been used Interpreted Matlab function block. Because of the use of State-
with Fuzzy Logic (FL) in multidisciplinary areas to tune FL Space based Genetic-Fuzzy simulation model, we have
controllers but still there is a research gap due to lack of completely avoided the experimental risk when designing and
generalized methodology and lack of Toolboxes to design and constructing the low-cost prototype with high capability of
construct combined Genetic-Fuzzy controllers [2]-[4]. parameter variations.
This paper is organized as follows; Section II explains the III. STATE-SPACE BASED SIMULINK MODEL OF BLDC MOTOR
Overall mechanism of the TSK-GA-Fuzzy Logic controller,
As mentioned in the introduction and as in Fig. 3, the mutual
Section III explains the State-space based Simulink model of the
induction between the permanent magnets in the rotor and the
BLDC motor in a Matlab environment, Section IV explains the
stator windings generates a trapezoidal shape magnetic field
TSK-GA-Fuzzy Logic controller of the BLDC motor and
which leads to generate a trapezoidal back e.m.f. voltage in each
Sections V and VI describe the comparison of the test results and
phase of the BLDC motor. The equivalent circuit of the 3-phase
conclusion respectively.
BLDC motor is shown in Fig. 4.
II. OVERALL MECHANISM OF THE GENETIC-FUZZY The stator phase voltage current relationships are given as in
CONTROLLER (1),
Mamdani type Fuzzy Logic Controller (FLC) was proposed
as the main controller which is tuned by a GA controller, and where; , and are stator phase voltages, , and are
where the parameters (such as Mutation rate, Crossover rate, stator winding resistance, inductance and mutual inductance
Population size, Maximum generations and Objective function) respectively. , and are trapezoidal back EMFs.
of the GA controller was tuned through another separately As in Table I and Fig. 4, the induced back e.m.f. voltage
dedicated zero–order, TSK-FLC. shape depends on the rotor position and the relationships are
In the main FLC, Mamdani approach and Center of Gravity given as in (2),
concepts was utilized, and when designing and constructing the
TABLE I. HALL EFFECT SENSOR’S STATES RESPECT TO ROTOR POSITIONS
FL controller the fuzzifier, fuzzy rule base and the defuzzifier
also take place. The fuzzifier will be mapped to the Rotor
corresponding input value into a fuzzy value in the fuzzy set. Hall PWM Signal Phase Current
Position
Sensor State applied
These fuzzy set values through the fuzzifier process have been (Degrees)
1 2 3
taken into account when applying the optimum fuzzy rule from
the fuzzy rule base which was previously determined with the 0
0 – 60 0
1 0 0 Q1 Q4 + – off
knowledge and experience of designing and constructing FLCs
[5]. According to these corresponding fuzzy rules the final output 600 –1200 1 1 0 Q1 Q6 + off –
of the FL controller is converted to a non-fuzzy value through the
defuzzification process. In this proposed controller, the required 1200 – 1800 0 1 0 Q3 Q6 off + –
or the desired parameters that needs to be controlled in the BLDC
motor is stable and quickly respond to angular velocity ( / ), 1800 – 2400 0 1 1 Q3 Q2 – + off
angular acceleration-deceleration ( / ) and the mechanical
torque ( ). 2400 – 3000 0 0 1 Q5 Q2 – off +
The simulation test results show that in some situations, un-
expected behavior of the BLDC motor exceed the current and 3000– 3600 1 0 1 Q5 Q4 off – +
voltage safety limits of the BLDC motor driver due to its highly

2
 Q1-Q6
PWM Voltage –
3-ph
Ref. Speed Reference Current
E/dE
GA - FLC Current Controller with BLDC
– Generation the 3-ph Motor
Driver

(Degrees)
TSK-FLC
(zero-order)
Rotor
(r.p.m) Position-Velocity
Detector
Fig. 2. Block diagram of the overall system

− = + (5)

=
(6)
= +( − ) + (1) 2
State space form of the BLDC motor from (1) and (5),
( − )
= ( − )+( − ) +

( )
( − )
2 = ( − )+( − ) + (7)
−
= 3 (2)
2 where; : back e.m.f. constant, : torque constant, : angular
+ speed of rotor, : trapezoidal function of rotor position, : rotor
3
inertia, : friction constant, : electrical rotor angle, :
mechanical rotor angle, : electrical torque, : number of poles.
The developed torque in each phase is,
Compared to the Self-inductance L , the Mutual inductance M is
( ) negligible and where; + + = 0.
2
− 2 1
= 3 (3) =− + ( − )+ ( − )
2 3 3
+
3 2 1
=− + ( − )+ ( − ) (8)
3 3
= + + (4)
The obtained States of the BLDC motor in State-space form is,
2 1
Phase 1 − 0 0 0
3 3
1 1 −
= 0 − 0 + − 0 −
3 3 −
Phase 2 1
0 0 − 0 0
(9)
Phase 3 L–M
Va R
ea
Hall Sensor 1
L–M
Hall Sensor 2 Vb R eb
L–M
Hall Sensor 3 Vc R ec
-30 30 90 150 210 270 330 30 90 150 210 270
0 60 120 180 240 300 360 60 120 180 240 300Degrees

Fig. 3. Traperzoindal back e.m.f. and Hall sensor’s wave patterns Fig. 4. Equivalent circuit of the 3-phase BLDC motor

3
 1 0
0 1
= −1 −1
0 0
The aforementioned observed states are utilized when
designing and constructing the BLDC motor in the MATLAB
simulation environment.
IV. GENETIC-FUZZY CONTROLLER OF THE BLDC MOTOR
Genetic-Animal research shows that species can adapt to
changing climates with the process of natural selection where
they produce offspring that survived better than the parents. The
natural selection not really create entirely new species but
according to long time climate changes (hundreds of years) they
are adapted [6]. Based on this mechanism and past research and
theories, GA and FL were utilized to design this proposed
combined GA-Fuzzy controller.
Reference [5] shows that, when having two inputs (error and
rate of changing error) and one output (speed of the dc motor)
with seven linguistically defined variables, 49 (72) fuzzy rules are
generated. Respect to the error and rate of changing error if the
angular acceleration-deceleration and mechanical torque have
been taken into account, additionally another 98 fuzzy rules need
to be defined. This process will be sophisticated and reduce the
performance of the FLC. As a solution, the proposed GA-Fuzzy
controller (mainly the GA controller) will generate the
appropriate control rules (chromosomes) which are relevant to
the current situation. The best chromosomes (candidate
solutions) are selected according to the predefined objective
function threshold level. The tested objective functions are error
(E), mean absolute error (MAE) and root mean square error
(RMSE) given as in (11), (12) and (13). The error and the rate of
changing error (dError) was calculated according to (14) and
(15).
where; “i” is every sampling instant.
= | ( )| (11)
0 of the fuzzy rule as an example shown in Fig. 5. In the fuzzy sets,
0 seven linguistic variables are utilized, in that case the upper
0 (10)
1 The linguistic variables and the corresponding gene decimal
bound limit is 7 and the lower bound limit is 1 in a chromosome.
values ( ) in chromosomes are as follows; where: ∈
ℤ and 1 ≤ ≤ 7.
Linguistic variables and the corresponding chromosome gene
values are as: “NB = 1”, “NM = 2”, “NS = 3”, “Z = 4”, “PS = 5”,
“PM = 6”, “PB = 7”. In a chromosome all the related linguistic
variables belongs to symmetric Gaussian curve membership
functions as in Fig. 6 and (16),
1 −
( ; , ) = − (16)
2
where: is the position of the center of the peak and is the
standard deviation (spread or width of the curve).
As shown in Fig. 7 simulated model response show that the
optimum performance of a GA controller depends on the
population size ( ), number of generations ( . ),
crossover percentage ( %) and the mutation
percentage ( %). As in Fig. 8, when the model run in real-time
and after ten generations minimizing the system error has been
saturated. Due to the stochastic search algorithm of GA the
optimum population size, number of generations, crossover
percentage, and the mutation percentage has been decided
through another closed loop zero-order TSK-FLC with two
inputs and four outputs as in Fig. 2. As shown in Table II, III and
in Fig. 9 the membership function values and the rule-base of the
TSK-FLC has been designed according to the behaviour of the
BLDC motor for each error function. As shown in Table II, in
the rule-base of the TSK-FLC the G, P, C and M represents the
four outputs No. gen, Pop, Cr% and Mu% respectively which are
utilized to tuned the GA. The optimized GA through the TSK-
FLC generates the optimum Fuzzy rules for the Mamdani type
FLC.
The tabulated TSK-FLC's Fuzzy rules as shown in Table III
could express as follows;

1 For the shaded portion:

= | ( )| (12) IF Error = PM AND dError = PS THEN (G = PM, P = PM,
C = PM, M = PM)

1 1 7 4 1 1
= ( ) (13) NB PB Z “AND” or Rule
“OR” operator Weight
Fig. 5. Lingustic variables corresponding to the gene values in a chromosome
=(
− ) (14) NB NM NS Z PS PM PB
1
= ( )− ( − 1) (15)

According to the objective function threshold level the 0.5

relevant chromosomes are selected and each chromosome
represent with a five digit (five genes) decimal number. Three
digits are representing the linguistic variables, and in the other
remaining two digits (genes), one gene represent either “AND” 0
fuzzy operator (minimum) or “OR” fuzzy operator (maximum) -4000 -2000 0 2000 4000
-5000 -3000 -1000 1000 3000 5000
between the consequent and the other gene represents the weight Fig. 6. Membership functions of (Error, dError, Speed)

4
 If (u1 == 500)
[B]
Go to 1.
[B]
1
. +
- v >
Is_a e_a

In
[C] [C] Vdc
Go to 2 Step
2
Output data into database
.
elseif (u1 == 1000)

. . .
[D] [D]

... ..
elseif (u1 == 1500) Go to 3.
3 In1 Out1 < Stator current is_a(A)>
> Tm
In2 Out2 >
g
In3 Out3
Actual rotor speed

. .
elseif (u1 == 2000) [E] [E] In4 Out4 + < Stator back EMF e_a(V)>

.
In5 Out5 merge A A 30/pi
Go to 4.
4 In6 Out6
+ N m < Stator back EMF e_b(V)>
elseif (u1 == 2500) In7 Out7
In8 Out8 B B
[F] [F] In9 Out9
dc - S < Stator back EMF e_c(V)> Actual rotor speed
elseif (u1 == 3000)
Go to 5
In10 Out10 C C

s
< Electromagnetic torque Te (Nm)>

-
.
5
N_(r.p.m.)
elseif (u1 == 3500) [G] [G]
BLDC Hub Motor
..
< Rotor speed W m (rad/s)>

elseif (u1 == 4000)

Go to 6.
6
Subsystem1
Speed Regulator
[H] [H] [A]
[A] o + v
elseif (u1 == 5500)
Go to 7 7 o - > Te (N.m)
o
.
[SW] From
Go to .

If [I] [I] Switch1 V ab

From1
Go to 8. 8
2000 In1 Out1 + In [J] [J]
-
Go to 9.
9
Constant
Subsystem

.
Desired rotor Input data into database In1 Out1 Convert
A

B
speed In2 Out2

B
In3 Out3
Interpreted Convert
In4 Out4
MATLAB Fcn C

du/dt In5 Out5

C
Convert
derivative In6 Out6
Genetic-Fuzzy A
Controller
TSK-Fuzzy >0
A
Controller <0 +
Convert

- B

>0 +
3
- B
Slider Gain1 In1 Out1 [SW] Gate Pulses + Convert
<0 - C
Go to10
.

du/dt
Discrete, >0 Hall
Ts = 0.00014 S.
derivative1
C Sensors
Convert
powergui <0
reshape (U, M, N) Fuzzy-PID Controller A

Convert 1-D to 2-D

Fig. 7. Simulation model of the BLDC motor with the proposed Genetic-Fuzzy Logic controller

In GA, crossover operator is the main key feature that

improve the quality of each candidate solution [7]. In that case to
produce high fitness chromosomes (solutions, that means the
optimum fuzzy rules) through the crossover process it need to
select the best chromosomes in each generation. For this process
roulette wheel mechanism was utilized and the selection
probability was calculated according to (17).
( )
( ) = (17)
∑

where; ( ) is the fitness of each chromosome, is the number

of spinning’s of the roulette wheel. Selected Number of Generations

V. COMPARISON OF THE SIMULATION TEST RESULTS

To analyze the performance of this proposed controller, the
considered parameters are as shown in Table IV. Fig. 8. Genetic-Fuzzy controller’s error function response, with generations

TABLE II. OUTPUT MEMBERSHIP FUNCTIONS VALUES OF THE TSK-FLC r.p.m.

Z PS PM PB Fuzzy-PID
Gen 0 5.0 8.00 10.0
nPop 0 5.0 25.0 50.0
pCr% 0 0.4 0.70 0.90
pMu% 0 0.4 0.70 0.90

TABLE III. RULES OF THE TSK-FLC (ZERO-ORDER FLC)

GA-Fuzzy
dError
Error Z PS PM PB Desired r.p.m.
PSG PSP PSG PSP PMG PMP PMG PMP
Z
PSC PSM PSC PSM PMC PMM PMC PMM
PSG PSP PMG PMP PMG PMP PMG PMP
PS
PSC PSM PMC PMM PMC PMM PMC PMM
PMG PMP PMG PMP PMG PMP PBG PBP
PM
PMC PMM PMC PMM PMC PMM PBC PBM
PBG PBP PBG PBP PBG PBP PBG PBP Sec
PB Fig. 9. GA-FLC’s response compare to the Fuzzy-PID controller
PBC PBM PBC PBM PBC PBM PBC PBM

5
 As shown in Fig. 9 for the PID-FLC, static fuzzy rules were VI. CONCLUSION
utilized which was generated through the proposed GA In this research, a dynamic genetic-fuzzy logic controller and
mechanism. But for the proposed combined control mechanism system level state variations observer model of a BLDC motor
dynamic fuzzy rules and dynamic GA parameters were utilized. have been designed and constructed for speed regulation. GA
The dynamic fuzzy rules were generated through this GA concepts have been utilized to generate the optimum fuzzy rules
controller, and for this GA controller the dynamic GA for the Mamdani type fuzzy controller in addition to the
parameters, (which are utilized to tuned the GA controller) was predefined 49 fuzzy rules according to our experimental test
generated through the TSK-FLC in real-time for every sampling which has been previously published [5]. The TSK-FLC is
instant . responsible to optimize the main key parameters of the GA,
where the optimized GA controller generates the dynamic fuzzy
As shown in Fig. 9, Fig. 10 and Fig. 11 the controllability rules for the Mamdani FLC in real-time. Fig. 9 - Fig. 11 clearly
and the adaptability of this proposed control mechanism was shows the proposed combined TSK-GA-FLC mechanism has
analyzed and compared with the newly published research work better performance compared to the fixed fuzzy rule mechanism
[8]-[14]. The proposed TSK-GA-FLC have significantly controller.
reduced the maximum overshoot, settling time, rise time and the
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