2017 5th International Conference on Electrical, Electronics and Information Engineering (ICEEIE)

Model Reference Neural Adaptive Control Based

BLDC Motor Speed Control

Didi Susilo Budi Utomo, Ansar Rizal, Achmad Fanany Onnilita Gaffar
Department of Information Technology
Polytechnic State of Samarinda
Samarinda, Indonesia
dsbudiutomo10@gmail.com, anrisal@yahoo.com, onnygaffar212@gmail.com

Abstract—Brushless DC (BLDC) motor control system is whereby the available data is the result of measuring the
consisted of a multi-variable, non-linear, strong-coupling system, dynamic behavior of the system. This capability is well suited
which is used to present robust and adaptive abilities. The to be applied to adaptive control systems where the controller
interest in emerging intelligent controller for BLDC motor has requires adaptation due to changes in system behavior [8].
been increased significantly. Neural Control is an ANN (Artificial
Neural Network) based control method whereby the available In this paper, ANN was used to build the inverse
data is the result of measuring the dynamic behavior of the model of BLDC motor speed. This model was then used as
system. This capability is well suited to be applied to adaptive controller. In order to obtain control schemes that have good
control systems where the controller requires adaptation due to dynamic responses, MRAC concept was applied.
changes in system behavior. ANN was used to build the inverse
model of BLDC motor speed. This model was then used as II. BLDC MOTOR
controller. In order to obtain control schemes that have good
dynamic responses, MRAC concept was applied.
A. BLDC Motor Drive
BLDC motor speed control is done by controlling the
Keywords—BLDC motor speed; ANN; Neural Control; MRAC average current value that flow in each phase. Current into
BLDC motor controlled by inverter bridge that drive using
I. INTRODUCTION PWM signal. Driver model for BLDC motor was shown in Fig.
The normal DC motor uses a commutation which can be 1. With a specific Vdc will get a specific rotation speed (ωm ) .
conducted using electronic control. In addition, it has sensors
Using open loop mode then reference signal in form of
which are systematically attached to the rotor as a major
sensing device by the Hall Effect sensor embedded into the expected rotation speed §¨ ωm .ref ·
¸ will compare to maximum
© ¹
stator [1]. Generally, this control uses a three-phase inverter for
adjusting a rotor position sensor while starting and providing rotation speed at maximum Vdc e.g (Vdc.max ) to get
the proper commutation sequence [2]. corresponding Vdc e.g § ·
.
¨ Vdc .ref ¸
© ¹
In general, the Brushless DC (BLDC) system is constructed
by a multi-variable, non-linear, strong-coupling system. This Fig. 1. BLDC motor driver
system has a high performance, robust and adaptive [3]. The
Proportional Integral Derivative (PID) controller is commonly
developed for shortcomings when controlling non-linear and
uncertain target. Recently, the implementation of the intelligent
controller for BLDC motor has been increased significantly, for
instance, a fuzzy logic based soft switching resonant inverter. It
is developed to overcome over voltage and current problems
[4]. A genetic algorithm was adopted to get optimum tuning
parameters of PID controller using integral absolute error [5].
Fundamentals of an adaptive control are detailed in [6].
This explanation contributes in an important control strategy
associated with depth analysis for adaptive control and
stability. Present challenges, strength and features of adaptive
control, have been reviewed and common and uncommon
issues with time delay are discussed in [7]. Neural Control is an
ANN (Artificial Neural Network) based control method

978-1-5386-0355-0/17/$31.00 ©2017 IEEE

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 2017 5th International Conference on Electrical, Electronics and Information Engineering (ICEEIE)

B. Dynamic Model of BLDC Motor

Ignoring the loses at the vdc source then electromechanical
model for each phase or BLDC motor is shown in Fig. 2.

Fig. 2. Electromechanical model of BLDC for each phase

Fig. 3. The Architecture of ANN FeedForward Multilayer [9]
Dinamyc model of BLDC motor is expressed by:
B. Reference Control Model
Km The aim of Reference Control Model (RCM) is to get
ω m ( s ) = J .s + K f .vdc ( s )
M feedback control law which change the structure and dynamic
(1) plant so that the performance of close loop system equal to
K .K
Km = KM / R , K f = E M reference model [6]. The MRC schema with LTI SISO model
R
is shown in Fig. 4.
where K m ( N .m.V −1 ) is BLDC motor constant,
K ( N .m.s.rad −1 ) is friction constant, J M ( N m s2 ) is moment
f

of inertia, K M ( N m / A) is mechanical constant, and

K E (V .s.rad −1 ) is electrical constant.

III. NEURAL CONTROL

Fig. 4. Reference Control Model
A. Artificial Neural Network
ANN is composed of elements that mimic the human IV. BLDC MOTOR SPEED CONTROL
biological nervous system. The network function is determined
by relationship between elements and it is trained to build a A. Model Parameter l
particular function. Training is conducted by improving the BLDC motor which use in this paper is Turnigy D3536/9
weighted value until the output of ANN equal to the target 910 KV Brushless Outrunner Motor with specification:
output, this is called Supervised Learning. The Feedforward
Multi-Layer architecture of ANN is shown in Fig. 3. Back • Work voltage : 7.4 - 15 VDC
propagation algorithm tracks the weighted value to minimize • Rotation speed per Volt ( KV ) : 910 rpm/V
network total error through training sets. Each iteration in back
propagation algorithm can be expressed by: • Internal resistance ( Ra = Rb = Rc ) : 63 x 10-3 Ohm
∂E • Shaft radius (rotor section) : 5 x 10-3 m
wk +1 = wk + Δwk Δwk = −α ∂w (2)
k
• Motor weight ( M ) : 0.102 Kg
where Δwk is update weighted of wk and α :is learning rate According to motor’s datasheet, the rotation speed is
ANN was use to build dynamic inverse model of BLDC
motor. This model then used as controller. ωm.max = KV * Vdc = 13650 rpm (3)

Mechanic constant is declared as:

1 1 −1
KM = = N .m. A (4)
KV 910

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 2017 5th International Conference on Electrical, Electronics and Information Engineering (ICEEIE)

Moments of inertia around the axis of the rotor:

J M = (1 / 2 ) M .r = 1.275 × 10
2 −6 2
Kg .m (5)

BLDC motor constants are declared as:

−2 −1
K m = K M / R = 1.7443 × 10 N .m.V (6)

If it is assume that K E = K M then friction constant is

declared as:

Kf =
K E .K M
=
(1.0989 × 10 ) −3 2

R 63 × 10
−3 (7)
−5 −1
= 1.9168 × 10 N .m.rad Fig. 6. Response of open loop system

From (1), rotation speed of BLDC motor is declared as:

910
ωm ( s ) = .vdc ( s ) (8)
(0.0665 × 10 ) .s + 1
−2

The model plant of BLDC motor needs to be converted into

discrete time using z transformation. Using pole-zero mapping
discretization method with sampling periode Tsamp = 0.001 so
that the model plant of BLDC motor in the form of delay
−1
operator z is declared by:

Y (z) 1.365 z
−1 Fig. 7. Closed Loop Model BLDC Speed Control
= (9)
U (z)
−1
1 − 0.9985 z

Using 2% criteria for first order system in Matlab Simulink

Model as shown in Fig. 5 then obtained response system as
shown in Fig. 6.

Fig. 5. Open Loop Model BLDC Speed Control

Fig. 8. Response of closed loop system
From simulation of open loop model obtained settling time,
From the simulation of closed loop model obtained ts = 0.13
ts = 0.27 sec with final value of 13650 rpm that suit to the
sec, error steady state, ess = 13650 – 6825= 6825 rpm.
calculation.
Simulation of closed loop model is conducted using
simulink model as shown in Fig. 7 with the response as shown
in Fig. 8.

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 2017 5th International Conference on Electrical, Electronics and Information Engineering (ICEEIE)

B. Neural Control of BLDC Motor Speed • u1 , storing u ( k − 1) data

Equation (9) can denote as Auto Regressive with
Exogenuous Input (ARX) model to be : • y , storing y ( k ) data

Y (z) 1.365 z
−1 • y1 , storing y ( k − 1) data
=
U (z)
−1
1 − 0.9985 z Input pattern of ANN data training is ª¬ y ( k ) , y ( k − 1)º¼
with the target of u ( k − 1) . Terget result with target error
y ( k + 1) = ( 0.9985 ) . y ( k ) + (1.365 ) .u ( k )
(10) equal to 0.00001 is used as controller as shown in Fig. 11.
(
= f y (k ) , u (k ) ) Simulation result is shown in Fig. 12. From the simulation
obtained ts = 0.0472 sec.

Equation (10) state that the next output ( y ( k + 1)) is the C. Model Reference Neural Adaptive Control of BLDC
Motor Speed
( )
function of current input u ( k ) . Inverse plant model then can Performance improvement of Neural Control BLDC Motor
be stated as: is conducted by applying the concept of MRC. Before that, it is
built the reference model that has performance criterias:

(
u ( k ) = f y ( k + 1) , y ( k ) ) • Zero steady state error → ess ≈ 0
(11) • settling time ts = 0.001 sec
(
u ( k − 1) = f y ( k ) , y ( k − 1) )
• No Overshoot
Aproximation function f ( < ) in (11) is done using ANN The reference model can be aproximated using first order
model:
FeedForward Multilayer in (12).
Ym ( s ) 1
u ( k − 1) = N ( y ( k ) , y ( k − 1) ) (12) =
R(s) Tm s + 1
Identification of inverse plant model is conducted using
ANN as shown in Fig. 9. With the reference input in form of unit step (R(s) = 1/s)
then using inverse laplace transform obtained:

− ts / Tm
y m (t ) = 1 − e , t≥0

Fig. 9. Inverse Plant Model Identification

Simulink model that used for data acquisition of data

training is shown in Fig. 10.

Fig. 11. Simulink model for Neural Control BLDC Motor

Fig. 10. Simulink model for Inverse Plant Model Identification

For Ts = 0.0001 then for 0.1 sec will be obtained 1001 data
for each variables:

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 2017 5th International Conference on Electrical, Electronics and Information Engineering (ICEEIE)

While output tracking error defined at k+1 is :

e ( k + 1) = y ( k + 1) − ym ( k + 1)

Then

e ( k + 1 ) = ( 0.9985 ) . y ( k ) + (1.365 ) .u ( k ) − y m ( k + 1 )

u (k ) = f ( y m ( k + 1 ) , y ( k )) + K cl .e ( k + 1 )
where

1
K cl = . lim e ( k + 1)max
1.365 k →∞

Fig. 12. Respons output Neural Control BLDC Motor To gain lim e ( k + 1)max is used simulink model as shown
k →∞
Using zero ess criteria and ±2% criteria then the final in Fig. 13.
response value is the same as the reference input, so obtained
Observation result is lim e ( k + 1) max
2
= 5.1088 x10 , so
1 − ym (t ) ≤ 0.02 for all t ≥ ts. Specified t = ts and zero ess such k →∞

that 1 − ym (t ) ≤ 0.02 then system periode (Tm) can obtained that

as :
1
K cl =
1.365
(
. 5.1088 x10
2
) = 374.2711
ts 0.001 −4
Tm = − =− = 2.5562 x10 sec
ln ( 0.02 ) ln ( 0.02 ) Simulink model of MRNAC is shown in Fig. 14 with the
response result shown in Fig. 15.
Since G ( s ) s =0 = 910 from (8), then the reference model is

3
910 3.9121x10
Gm ( s ) = = ( 910 ) .
( 2.5562 x10 ) s + 1
−4
s + 3.9121x10
3

To obtain the same settling time with continuous time then

used pole-zero mapping discretization method, so that :

Ym ( z ) 294.6580
Gm ( z ) = = (13)
R ( z) z − 0.6762

Control law is designed to be able produce control signal

u(k) that cause plant output can follow output from reference
model. From (13) obtained

ym ( k + 1) = ( 0.6762 ) . ym ( k ) + ( 294.6580 ) .r ( k )
Fig. 13. Simulink model for e(k+1) observation

So that plant output can follow reference model output,

then

y (k + 1) = ym (k + 1)

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 2017 5th International Conference on Electrical, Electronics and Information Engineering (ICEEIE)
Fig. 14. Simulink model for MRNAC BLDC Motor
Fig. 15. Respons output MRNAC BLDC Motor
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V. CONCLUSION
Neural Control is an ANN based control method that
requires only a set of data from measurement of system
dynamics behavior. This capability is well suited to be applied
to adaptive control systems such as BLDC motor control
system. ANN was used to build the inverse model of BLDC
motor speed. This model was then used as controller.
Performance requirement of BLDC motor is represented by
reference model. Simulation result showed that the Model
Reference Neural Adaptive Control produce the same system
response with the reference model.
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