Speed Control of BLDC Motor Using Hybrid Controller: Strart Up

Speed Control of BLDC Motor using Hybrid Controller
1.1 INTRODUCTION:
Motors are mainly used as energy conversion devices i.e., electrical energy
converted to mechanical energy. Nowadays, Electric motor applications has extent to
all kinds of fields such as home appliances, industries, agriculture, satellite and
hospitality applications to meet the demands of the motor they are available mill watts
to Millions of kilo watts. There are different types of motors in the market induction
motors, synchronous motors, DC motors and switched reluctance motors etc.
An induction motor has the advantages of easy fabrication, simple construction,
low price, less maintenance and easy start up but it is inefficient to regulate the speed
smoothly over a wide range and power factor of the grid decrees due to absorption of
the lagging reactive power. From these it is concluded that for traction applications
induction motors cannot be used.
The synchronous motor has benefits of high precision, torque, hard mechanical
characteristic, and efficiency but it has disadvantage like poor speed regulation, which
limits the range of its application. Due to permanent magnets or no windings on the
rotor, low price and simple structure switched reluctance motor is constructed. It can
produce high torque at low speed. However, the torque ripples and noise limit its
promotion and applications.
In electric power drive systems DC motors are widely used that due to its
characteristics speed regulation and strart up, such as lifting equipment, traction and
flour mill. Nowadays, Small capacity of DC motors are mostly used in control systems
and automation applications due to its having good speed regulation and easy start up
characteristics. Due to brushes in Conventional DC motors Commutation problems
occur, radio interference, create noise and electric sparks.
To overcome these disadvantages a novel high performance BLDC motor were
developed on the basis of brushed DC machine. It has advantages like superior speed
regulation, no maintenance, simple structure, large torque, high efficiency, and no noise
and radio interference problems. It is widely used in air conditioning, refrigerator, fans,
aircraft, satellite systems, agriculture, and electric vehicle applications.
1.2 PROBLEM DEFINITION:
Electric vehicles, Satellite systems are applications of BLDC motor. These
applications need to control the speed even under large loading conditions. Speed can
control by designing the self-tuning controllers like Fuzzy, ANFIS and hybrid
controllers.
Dept. of EEE, MITS 1

1.3 OBJECTIVE OF THESIS:

High efficiency, no maintains and smooth operation of speed are the advantages
BLDC motor due this BLDC motor become competitor for induction motor. Brushed
DC motor have commutation problem to overcome that BLDC motor is used. Main
objectives of this thesis are
 Providing theoretical background of Brush Less DC motor i.e. Construction,
Principle of operation, Advantages and applications.
 Description about inner and outer loop controllers.
 Designing of SVPWM controller for BLDC motor to provided current control in
inner control.
 Designing of proposed ANFIS-PID and Fuzzy online gain tuned PID controllers.
 Closed loop speed control of BLDC motor with proposed AI controllers using
MATLAB/SIMULINK software.
 Comparison of proposed controller results with PID, Fuzzy-PID, ANIS, Adaptive
Fuzzy PID controllers.
1.4 LITERATURE SURVEY:
Occupation of place and weight are the main constraints to choose BLDC motor.
Disadvantages of DC motors are lesser efficiency, vulnerability of the commutator
assembly to mechanical wear, consequent need for servicing, less roughness and
requirement for control electronics these are overcome by BLDC motor. Due to high
reliability, low maintenance, high power density and simple construction these motors
are widely used. Electrical and mechanical properties presently permanent magnet
brushless DC (BLDC) motors are virtuous so these motors are used in air-conditioning,
refrigerators, aircraft, satellite systems, fans, agriculture, electric vehicles applications
[1-3]. BLDC motor generates two types of back EMF’S trapezoidal and sinusoidal,
mathematical modelling, simulation study are done for both sinusoidal and trapezoidal
three phase BLDC motor. Torque characteristics plays a major role in design of the
brushless DC motor drive system, so it is important to forecast the exact values of
torque, speed and voltage for both sinusoidal and trapezoidal BLDC motors has 3-
phase star connected winding on stator and permanent magnet rotor. The difference
between Permanent Magnet Synchronous Motor (PMSM) and BLDC motor is Back
EMF generated. Sinusoidal back EMF generated in PMSM and for BLDC Motor
Trapezoidal type back EMF generated. BLDC motor construction is similar to

conventional synchronous machine except excitation and damper windings are not
provided for BLDC motor [4].
Comparison between the SVPWM and sin PWM techniques for back to back
converters with a decoupling control strategy, PSCAD/EMTDC for simulation purpose
is used. Also, transient and steady state performance characteristics of the system is
carried out for both techniques. The simulation results show that the transient response
is similar for both schemes, and the Space vector PWM technique has the benefit less
harmonic content, which it is useful in applications that require a low harmonic level
for avoiding overheats, malfunction in sensitive systems and fast settling [5].
PI controller is used to regulate the speed. Simulation studies are conducted for
two different set of speeds and the corresponding speed and torque regulations by these
results conclude that varying the load speed response has more oscillations. [6].
Modelling, simulation study for conventional PID controller using PWM controlling
technique is provided and also Fuzzy-PI controlling algorithm is defined for both speed
and torque is presented .In this paper, results are analyzed and compared for both
controllers. The working parameters like propositional, derivative and integral (KP,
KD&KI) calculated using trial and error, Ziegler-Nichols and Cohen Coon methods. The
classical PID controllers due to their simplicity and dynamic design but this type of
controllers not efficient for higher order, time delay and non-linear systems, so artificial
controllers are used to control the this type of systems[7-8].
Control applications such as traffic control, temperature control, DC motor
speed control, etc. are the most prevalent of non-adaptive fuzzy logic applications. For
the most complex systems, fuzzy reasoning provides a way to understand the system
behavior by allowing interpretation between the observed input and the output relations
of the system [9, 10].
Fuzzy logic control used for many applications but it’s difficult to define rule
base exactly for some applications, so its need to tune rule base according to plant
loadings or changes. In order to overcome these limitations, fuzzy PID controller has
been designed But, the simulation and real time results shows that control system
parameter’s like steady state error, over shoot, response time, and settling time are not
satisfying the required performance during loaded condition [11-12].In order to
improve performance and robustness properties fuzzy- PID with PSO algorithm is used
in this paper, two self-tuning mechanisms were introduced. The scaling factors tuning
problem of these PID-type FLC structures is formulated and systematically resolved,

using PSO algorithm. The disadvantage of this method is that PSO algorithm takes long
time for initializing the weight of the PID fuzzy network [13]. In this paper, adaptive
fuzzy PID which can tune the parameters in on-line is introduced to apply in the double-
motor synchronous control system. In MATLAB/SMULINK environment [14].
Adaptive fuzzy PID controller is introduced to speed regulation of BLDC
motor, to enhance the performance of controller number of membership functions will
increased individual set of rules are devolved for Kp, Ki and Kd due to this if member
functions are increased rules are also increased. Here 149 rules were used to improve
the performance of BLDC motor, but this controller produced anger overshoot and
noise in the output response [15-17].
The combination of neural network and fuzzy system has recently become
popular in engineering fields and one such structure namely ANFIS discussed in [18-
22] intelligent agent based Adaptive Neuro-Fuzzy Inference System (ANFIS) was
developed to perform Non-linear Auto-Regressive Moving Average with exogenous
input system identification of BLDC motor. Electromagnetic force prediction
performed by ANFIS for sensor less control of brushless dc motor was presented [18].
Gain adjustment of dead beat Proportional Integral based speed controller for BLDC
motor designed by particle swarm with ANFIS [19].
The limitation of this controller is that, it works only for particular operating
conditions. The controller response has changed shortly for change in operating
conditions. Also, the system exhibited larger overshoot, high rise, Settling times and
increased possibility of system moving to unstable state [20]. Hybrid approach was
followed for designing the speed controller.
The controller incorporates Neuro fuzzy based proportional derivative
controller and conventional integral controller. Neuro fuzzy controller produced more
noise in the control system and tuning of the integral gain has considerable effect on
the control performance such as overshoot and settling time. ANFIS based controller
has been designed for brushless dc motor in [21], but the speed response exhibited high
rise time, high settling time and larger steady state error. The emotional learning
algorithm utilized the proportional derivative controller function and it modified the
output layer gain of Neuro fuzzy controller. But, tuning of the proportional and
derivative gains has resulted in large overshoot, large settling time and high steady state
error in the system performance [22].

1.5 ORGANIZATION OF THESIS:

This thesis is organized in to 5 chapters
In CHAPTER 1, Introduction to speed control, need of speed control, literature survey
are presented.
In CHAPTER 2, Introduction to over view of Construction and principle of operation
of BLDC motor is presented.
In CHAPTER 3, Mathematical modelling of controllers.
In CHAPTER 4, The SIMULINK models and results are presented.
In CHAPTER 5, the project work described in the thesis is summarized and general
conclusions are presented.
1.6 SUMMARY:
This chapter focuses introduction of BLDC motor, Importance of the speed
control and literature survey.

2.1 INTRODUCTION:
Brushless”Direct Current (BLDC) motors are one of the motor types rapidly
gaining popularity. BLDC motors are used in industries such as Appliances,
Automotive, Aerospace, Consumer, Medical, Industrial Automation Equipment and
Instrumentation. As the name implies, BLDC motors do not use brushes for
commutation instead, they are electronically commutated. BLDC motors have many
advantages over brushed DC motors and induction motors. A few of these are:
 Better speed versus torque characteristics
 High dynamic response
 High efficiency
 Long operating life
 Noiseless operation
 Higher speed ranges
In addition, the ratio of torque delivered to the size of the motor is higher,
making it useful in applications where space and weight are critical factors. In this
application note, we will discuss in detail the construction, working principle,
characteristics and typical applications of”BLDC motors
2.2 CONSTRUCTION OF BLDC MOTOR:
1-phase, 2-phase, 3-phase three types of BLDC motors are available in market.
Out of these, 3-phase motors are the most popular and widely used. 3-phase BLDC
motor consist 3 stator windings no of windings on the stator depends on the no of
phases.
2.2.1 Stator:
Stator Construction of Brush less DC motor as same as the induction motor and
synchronous motor. 3- Phase stator winding emended in the core, winding can be
connected in star or delta fashion. Maximum conditions star type winding is used
because high speed and large torque conditions are possible. Armature winding for DC
motor placed in rotor but in Brush less DC motor placed in stator side due to this heating
losses were decreased.
There are different types of windings for BLDC motor construction depending
up on the back EMF generation it is classified as distributed full pitched winding and
concentrated full pitched winding. Usage of concentrated full pitched winding produce

Trapezoidal type Back EMF as shown in fig 2.2. Distributed full pitched winding
generates Sinusoidal back EMF as shown in fig 2.1.
Fig.2.1. Sinusoidal back EMF of BLDC motor
Fig.2.2. Trapezoidal Back EMF for BLDC motor

2.2.2 Rotor:
Permanent magnets are used in rotor construction of BLDC motor, and rotor
consists of north and south poles depending on the speed of the motor poles are

incorporated in the rotor. Based on the require magnetic flux density, magnetic material
is need to choose for rotor constriction. Samarium Cobalt (SmCo), Neodymium (Nd),
Ferrite and Boron (NdFeB), and the alloy of Neodymium are some examples for rotor
construction materials. Different arrangements of the magnets in the rotor shown in the
fig 2.3.
Fig.2.3. Rotor magnets of the BLDC motor

2.2.3 Hall sensors:
Commutation of a Conventional DC motor is controlled mechanically, but it has
some disadvantages to overcome that Electronic commutation is provided in BLDC
motor. 3-phase stator windings should energies properly or in sequence to rotate BLDC
motor. To know the rotor position Hall Effect sensor embedded in stator of the BLDC
motor. Hall sensor sense the rotor position and give low or high signals indicating north
and South Pole based on the hall sensor signal exact commutation sequence can be
determined Table 2.1 Shows the hall sensor signals and sequence of operation.
Sensor Clockwise Direction
H H H S S S S S S
A B C 1 2 3 4 5 6
0 0 0 0 0 0 1 1 0
0 1 0 1 0 0 0 0 1
0 1 1 1 0 0 1 0 0
1 0 0 0 1 1 0 0 0
1 1 0 0 0 1 0 1 0
1 1 1 0 0 1 0 0 1
Table 2.1. Sequence of Operation of Hall sensors

2.3 PRINCIPLE OF OPERATION OF BLDC MOTOR:
Fig.2.4. Cross sectional view of BLDC motor

Fig 2.4. Shows cross sectional view of”a BLDC motor with a rotor that has
alternate N and S permanent magnets. Hall sensors are embedded into the stationary
part of the motor. Embedding the Hall sensors into the stator is a complex process
because any misalignment in these Hall sensors, with respect to the rotor magnets, will
generate an error in determination of the rotor position. To simplify the process of
mounting the Hall sensors onto the stator, some motors may have the Hall sensor
magnets on the rotor, in addition to the main rotor magnets. These are a scaled down
replica version of the rotor. Therefore, whenever the rotor rotates, the Hall sensor
magnets give the same effect as the main magnets. The Hall sensors are normally
mounted on a PC board and fixed to the enclosure cap on the non-driving end. This
enables users to adjust the complete assembly of Hall sensors, to align with the rotor
magnets, in order to achieve the best performance. Each commutation sequence has one
of the windings energized to positive power (current enters into the winding), the
second winding is negative (current exits the winding) and the third is in a non-
energized condition. Torque is produced because of the interaction between the
magnetic field generated by the stator coils and the permanent magnets. Ideally, the
peak torque occurs when these two fields are at 90° to each other and falls off as the
fields move together. In order to keep the motor running, the magnetic field produced
by the windings should shift position, as the rotor moves to catch up with the stator
field. What is known as “Six-Step Commutation” defines the sequence“of energizing

the windings. Fig 2.5.shows the sequence of the motor EMF, hall sensor singles and
stator current.
Fig.2.5. Hall Sensor Signal, Back EMF, Output Torque and Phase Current

2.4 MATHEMATICAL MODELLING OF BLDC MOTOR:
Fig.2.6. Circuit Model for BLDC motor

Three phase voltage Equations are
State space representation of voltage equations:
Va, Vb and Vc = Phase Voltages of the motor

Ra, Rb and Rc = Stator winding resistances
Ia, Ib, and Ic = Phase currents of the motor
La, Lb and Lc = Self inductances of the motor winding.
It is also assumed that stator resistances of all the windings are equal. Therefore the
rotor reflectance does not change with angle.
Now

La, Lb and Lc  L
Lab, Lbc and Lca=M Let us assume that constant self and mutual inductances for all
three phases,
The Electromagnetic Torque Equation Expressed as
Where J, B and Wr = the moment of inertia, frictional co efficient and angular velocity
of motor respectively.
TL = Load Torque
Electromagnetic torque of the 3-𝜑 BLDC motor is depend on the current, Speed and
Back EMF Wave forms.
Equation (3) expressed as
The equation of Motion is given as
2.5 SUMMARY:
This chapter focus on the theoretical background of the BLDC motor such as
construction, principle of operation, advantages, applications and mathematical
modelling of BLDC motor.

3.1 INTRODUCTION:
BLDC motor Contains two control loops are used to control BLDC motor. The
inner loop synchronizes the inverter gates signals with the electromotive forces. The
outer loop controls the motor's speed by varying the DC bus voltage.
3.2 INNER CONTROL LOOP:
Fig .3.1. PWM pulses for speed control

Classically, a BLDC motor is driven by a 3-∅ inverter with, what is called, six-
step commutation. Each phase will conduct with 120 degrees phase shift. The
commutation phase sequence is like AB-AC-BC-BA-CA-CB. Each conducting phase
is called one step. From these conclude that two phases conduct at a time third phase is
floating. In order to produce maximum torque, the inverter should be commutated every
60 degrees so that current is in phase with the back EMF. The commutation timing is
determined by the rotor position, which can be detected by Hall sensors. Depending on
inverter PWM pulses speed of the motor is controlled. If SPWM technique Total
Harmonic Distortion (THD) is more and switching frequency is very less due to this
average voltage supplied to motor is reduced to overcome these disadvantages SVPWM
controlling technique is used.
3.2.1 SVPWM Technique:
The”circuit model of a typical three-phase voltage source PWM inverter is
shown in Fig.3.2. S1 to S6 are the six power switches that shape the output, which are

controlled by the switching variables a, a, b, b, c and c. When an upper transistor is

switched on, i.e., when a, b or c is 1, the corresponding lower transistor is switched off,
i.e., the corresponding a′, b′ or c is 0. Therefore, the on and off states of the upper
transistors S1, S3 and S5 can be used to determine the output voltage.
Fig.3.2. Three-phase voltage source PWM Inverter

As illustrated in Fig. 3.2, there are eight possible combinations of on and off
patterns for the three upper power switches. The on and off states of the lower power
devices are opposite to the upper one and so are easily determined once the states of the
upper power transistors are determined. According to equations (1) and (2), the eight
switching vectors, output line to neutral voltage (phase voltage), and output line-to-line
voltages in terms of DC link Vdc, are given in Table3.1shows the eight inverter voltage
vectors“(V0 to V7).
Table 3.1 Switching vectors, phase voltages and output line to line voltages

Fig .3.3. FFT analysis for stator current using SIN PWM Technique
Fig .3.4. FFT analysis for stator current using SVPWM PWM Technique
THD of stator current with SPWM technique is 51.29%, THD of stator current
with SVPWM technique is 18.38%. From figures 3.3 and 3.4 it is concluded that
SVPWM technique provides greater reduction of total harmonic distortion (THD).
3.3 OUTER CONTROL LOOP:
Fig.3.5. shows the closed loop speed control of BLDC motor .Actual speed of
the motor is compared with the desired or reference speed to know error speed. Input
of the controller is error which intern produce the duty cycle to control the speed of the
motor. There are different types of controllers here PID, Fuzzy-PID, Adaptive Fuzzy
PID, ANFIS, ANFIS- PID and Fuzzy online gain tuned PID controllers are used. From
fig 4.4 it is concluded that stator current of the motor is controlled by the inner control
loop and speed controlled by outer controlled loop.

Fig.3.5. Closed loop Speed control of BLDC motor

3.3.1 Fuzzy-PID Controller:
Fig.3.6. Simulink model for Fuzzy-PID controller

Fig.3.6. shows the overall structure of Fuzzy – PID controller. Kp, Ki and Kd
are connected to the output of the Fuzzy controller. To design FLC Mamdani type rule
base is used. Structure of rule base is IF e = Ei and Ce = dEj THAN UPD=UPD (i, j).
Fuzzy controller consist of two inputs and one output. These are error (e) and change
in error (Ce) and range of inputs are “e” [-4600 to +4600], “ce” [-7.5e-05 4e-07] and
output [-20 20]. Gauss bell type, gauss type member ship functions are used for inputs
and outputs of the FLC respectively. Membership functions used in inputs and outputs
are Negative Big (NB), Negative Medium (NM), Negative Small (NS), Zero (Z),
Positive Small (PS), Positive Medium (PM) and Positive Big(PB). Table 3.2 shows the

Fuzzy rules. These rules contain input/output relationships. Each input having a seven
member ship functions so that they are 49 rules.
𝑬⁄ NB NM NS Z PS PM PB
𝑪𝑬
NB NB NM NB NB NM NS Z
NM NB NM NM NM NS Z PS
NS NB NM NS NS Z PS PM
Z NB NM NS Z PS PM PB
PS NM NS Z PS PS PM PB
PM NS Z PS PM PM PM PB
PB Z PS PM PB PB PB PB
Table.3.2. Rules For Fuzzy controller

3.3.2 Adaptive Fuzzy PID:
Fig.3.7. Simulink model for Adaptive Fuzzy-PID controller

Fig 3.7 shows the Adaptive fuzzy-PID controller, error and change in error are
the inputs of fuzzy controller.kp, ki, kd are the outputs which is connected with error as

shown in fig To design FLC Mamdani type rule base is used. Structure of rule base is
IF e = Ei and Ce = dEj THAN UPD=UPD (i, j). Fuzzy controller consist of two inputs and
one output. These are error (e) and change in error (Ce) and range of inputs are “e”,
“ce” [-4600 to +4600], and output are Kp, ki, Kd [-4000 4000]. Triangular membership
functions are used for inputs and outputs of the FLC. Membership functions used in
inputs and outputs are Negative Big (NB), Negative Medium (NM), Negative Small
(NS), Zero (Z), Positive Small (PS), Positive Medium (PM) and Positive Big(PB). Fig
3.8 shows the structure of fuzzy-PID controller. Fig 3.9 to Fig 3.10 shows the
membership functions of inputs and outputs and its ranges.
Fig .3.8. Shows the structure of fuzzy-PID controller
Fig .3.9.Inputs Member Ship Functions

Fig .3.10. Output Member Ship Functions (Kp, Ki, Kd)

Change in Kp
𝑬⁄ NB NM NS ZO PS PM PB
𝑪𝑬
NB PB PB PM Z NS ZO ZO
NM PB PB PM PS PS ZO NS
NS PM PM PM PS PS ZO NS
ZO PM PM PS ZO NS NM NM
PS PS PS ZO NS NS NM NM
PM PS ZO NS NM NM NM NB
PB ZO ZO NM NM NM NB NB
Change in Ki
𝑪𝑬
NB NB NB NM NM NS ZO ZO
NM NB NB NM NS NS ZO ZO
NS NB NM NS NS ZO PS PS
ZO NM NM NS ZO PS PM PM
PS NM NS ZO PS PS PM PB
PM ZO ZO PS PS PM PB PB
PB ZO ZO PS PM PM PB PB
Change in KD
𝑪𝑬
NB PS NS NB NB NB NM PS
NM PS NS NB NM NM NS ZO
NS ZO NS NM NM NS NS ZO
ZO ZO NS NS NS NS NS ZO
PS ZO ZO ZO ZO ZO ZO ZO
PM PB NS PS PS PS PS PB
PB PB PM PM PS PS PS PB
Table.3.3. Rules for Adaptive Fuzzy-PID controller

3.3.3 ANFIS Controller:

Identification of input data is first step in the dynamic process fig 3.11 shows
the block diagram of identifier i.e. ANFIS controller input output identifier. ANFIS
controller inputs are error, change in error and output is modified reference signal
obtained combining the error and change in error. Where error is denoted by u(x) input
data taken from the Fuzzy-PID controller. U(x) contains 20,000 sample data change in
error denoted by M(x) it also obtain from Fuzzy-PID controller by adding error and
change in error Um(x) will obtain.
Fig.3.11. Block diagram of ANFIS controller

Fig 3.12.shows the training data 20,000 samples given to the neuro fuzzy
generator to generate the neuron model for the input.
Fig 3.12. Modified training data for ANFIS controller

Fig 3.13 shows the training error it should be very low vale at the time of tryning
increasing time no of epochs the error can minimized. Here trapezoidal type 7
membership functions where used they are Negative Big (NB), Negative Medium
(NM), Negative Small (NS), Zero (Z), Positive Small (PS), Positive Medium (PM) and
Positive Big(PB) due to training 49 output member ship functions and rules were
generated. Fig 3.14 shows the ANFIS neuron model it contains 5 layers in this 1st layer
is input layer and they are error ’e’ and change in error ‘ce’. Next layer member ship
functions of the input. 3rd layer shows the input and output relationship it is denoted as
rules, 4th layer is the output member ship functions layer and 5th layer sums the all
output membership functions and gives output.
Fig. 3.13. Trained data
Fig.3.14. ANFIS model Structure

3.3.4 ANFIS-PID Controller:

ANFIS–PID controller has two inputs and one output. The controller design is
shown in Fig.3.15.ANFIS-PID controller consists one output which are connected to
Kp, Ki and Kd, Rule base is based on Takagi-Sugeno type system. To design ANFIS
controller input and output data is needed this set of data collected from FUZZY-PID
controller. ANFIS controller can change automatic weight adjustments in between each
layer and minimize all parameters till acceptable control effect. Rules are automatically
generate in ANFIS controller, no of rules generated depending on the input member
ship functions. In proposed ANFIS controller has 7 bell type input member ship
functions so 49 rules and output membership functions were generated. Structure of
ANFIS controller is shown in Fig.3.16.
Fig.3.15. ANFIS-PID Controller
Fig.3.16. ANFIS model Structure

3.3.5 Fuzzy Online Gain Tuned PID Controller:
Fig.3.17. Fuzzy online gain tuned PID controller

Fig 3.17 shows the overall structure of Fuzzy online gain tuned PID controller.
Kp, Ki, Kd and Kc are the outputs of the Fuzzy controller. Where Kp= propositional
gain, Ki=Integral gain, Kd= derivative gain and Kc=Feedback gain. To design FLC
Mamdani type rule base is used. Structure of rule base is IF e = Ei and Ce = dEj THAN
UPD=UPD (i, j).
Fuzzy controller consist of two inputs and four outputs. These are error (e) and
change in error (ce) and range of inputs are “e” [-4600 to +4600], “ce” [-7.5e-05 4e-07]
The range of outputs are proportional gain is from [0 to 360], integral gain ranges from
[1500 to-1500], derivative gain ranges from [0 to 1] and back calculation gain ranges
from [-45to 45] and Gauss bell type, gauss type member ship functions are used for
inputs and outputs of the FLC respectively. Membership functions used in inputs and
outputs are denoted by Negative Small (NS), Big (B), Medium (M), Very–Very Big
(VVB) and Very Big (VB). Totally 25 rules are created for fuzzy Online gain tuner and
few rules are described as

Rule 1: if e is NB and ce is NB then (Kp is VVB) (Ki is VVB) (Kd is NS) (Kc is
VVB)
⋮
Rule 25: if e is PB and ce is PB then (Kp is NS) (Ki is NS) (Kd is VB) (Kc is NS)
Change in Kp
𝑬⁄ NB NS Z PS PB
𝑪𝑬
NB VVB VVB VVB VB B
NS VVB VVB VB VB B
Z VB VB B PS PS
PS B M M M M
PB M M NS NS NS
Change in Ki
𝑪𝑬
NB NS NS M M VB
NS NS NS NS NS M
Z NS NS NS M VB
PS M M M M NS
PB NS NS NS M VB
Change in Kd
𝑪𝑬
NB VVB VB B B B
NS VVB VB VB B M
Z B M NS NS NS
PS B B M NS NS
PB M NS NS B NS
Change in Kc
∆𝑪𝑬
NB NS NS M M VB
NS NS NS NS NS M
Z NS NS NS M VB
PS M M M M NS
PB NS NS NS M VB
Table.3.4. Fuzzy online gain tuned PID controller

3.4 SUMMARY:
This chapter explains about controllers design in MATLAB/SIMULINK. In
fuzzy controller rules are prepared manually but in ANFIS controller it will generated
depends on the input data given to the controller. To control the speed of BLDC motor
these controllers are used

4.1 ANFIS-PID CONTROOLER:
Fig.4.1. MATLAB/SIMULINK model for the proposed ANFIS-PID controller

Fig 4.1 shows MATLAB/SIMULINK model of the proposed controller.
Simulink model for the control of BLDC motor drive has been devolved using
MATLAB R 2013A. The SIMULINK model consists of controlled Voltage source,
Hall sensor, SVPWM inverter, ANFIS-PID controller, switching logic circuit and
BLDC motor. Through controlled voltage source input is given to SVPWM inverter
and output of the inverter is given to the BLDC motor. Rotor position and speed are
sensed by hall sensor. The actual speed is compared with reference speed to produce
speed error and the rate of change of speed error is obtained by differentiating the speed

error. The Error and Change in speed error are given as input to the ANFIS-PID speed
controller. Table 4.1 shows the Name plate details of BLDC motor.
Rated Voltage(V) 310
Rated Speed (RPM) 4600
Stator Phase resistance R(Ω) 3.06
Stator Phase inductance(H) 0.00657
Flux linkage established by magnets(VS) 0.12175
Pole Pairs 2
Moment of inertia(Kgm2/ rad) 0.0008
Fraction factor(NM/(rad/s)) 0.001
Table.4.1. Specifications of BLDC motor
Fig.4.2. EMF Wave forms of BLDC Motor

Fig.4.3. Stator Currents of BLDC Motor
Fig.4.4. Hall Sensor Signals of BLDC Motor

Fig 4.2, 4.3 and 4.4 shows the Back EMF, Stator Currents and Hall sensor signal
wave forms respectively. Stator EMF’s are displaced by 120 degrees. Stator currents in
transient state at the time of starting after that it is settled to 100A. Hall sensor signals
are used to sense the stator position of BLDC motor.

Fig.4.5. Speed Response of BLDC Motor with ANFIS-PID Controller When the
Load Torque Applied is 40NM
Fig.4.6. Torque Characteristics of BLDC motor with ANFIS-PID Controller when

the Load Torque applied is 40NM
Fig 4.5 shows the speed of the BLDC motor when step load 40NM is applied at
t=0 sec then time taken to settle is 0.027 sec at reference speed 4600 RPM. Fig 4.6
shows the torque characteristics of BLDC motor settle at 40 NM.

Load Torque applied is Changed from 30 NM to 40 NM
Fig.4.8. Torque Characteristics of BLDC Motor with ANFIS-PID Controller when

the Load Torque applied is Changed from 30 NM to 40 NM
Fig 4.7 shows the speed Wave from of the BLDC motor when a step load
changed from 30 NM to 40 NM. ANFIS- PID controller takes 0.05 sec to settle at 4600
RPM when step load change accord from 30 NM to 40 NM. Fig 4.8 shows the toque
wave form of BLDC motor load change occurred at 0.5 sec.

Load Torque applied is Changed from 40 NM to 30 NM
Fig.4.10. Torque Characteristics of BLDC Motor with ANFIS-PID Controller when

the Load Torque applied is Changed from 40 NM to 30 NM
Fig 4.9 shows the speed Wave from of the BLDC motor when step load changed
from 40 NM to 30 NM. ANFIS-PID controller takes 0.03 sec to settle at 4600 RPM
when step load change accord from 40 NM to 30 NM. Fig 4.10 shows the toque wave
form of BLDC motor load change occurred at 0.5 sec.

Fig.4.11. Speed Response of BLDC motor with ANFIS-PID controller when Speed
Changes from 3600 RPM to 4600 RPM
Fig.4.12. Torque Characteristics of BLDC Motor with ANFIS-PID Controller

When Speed Changes from 3600 RPM to 4600 RPM
Fig 4.11 speed wave from when speed changes from 3600 to 4600 RPM at 0.5 sec at
constant load 40 NM condition. Fig 4.12 torque characteristic of BLDC motor when
speed change accord but constant load condition. ANFIS-PID controller takes 0.015
sec to change speed.

Fig.4.13. Speed Response of BLDC Motor with ANFIS-PID controller when Speed
Changes from 4600 RPM to 3600 RPM
Fig.4.14. Torque Characteristics of BLDC Motor with ANFIS-PID Controller

Fig 4.13 speed wave from when speed changes from 4600 to 3600 RPM at 0.5 sec
at constant load 40 NM condition. Fig 4.14 torque characteristic of BLDC motor when
speed change accord but constant load condition. ANFIS-PID controller takes 0.03 sec
to change speed.

4.2 Fuzzy Online Gain Tuned PID Controller:
Fig4.15. MATLAB/SIMULINK Model for the Proposed Fuzzy Online-PID

Controller
Fig 4.15 shows MATLAB/SIMULINK model of the proposed fuzzy online-
PID controller. Simulink model for the control of BLDC motor drive has been devolved
using MATLAB R 2013A. The SIMULINK model consists of controlled Voltage
source, Hall sensor, SVPWM inverter, Fuzzy online gain tuned PID controller,
switching logic circuit and BLDC motor. Through controlled voltage source input is
given to SVPWM inverter and output of the inverter is given to the BLDC motor. Rotor
position and speed are sensed by hall sensor. The actual speed is compared with

reference speed to produce speed error and the rate of change of speed error is obtained
by differentiating the speed error. The error and Change in speed error are given as
input to Fuzzy online gain tuned –PID controller. It work efficiently comparing to all
other prescribed controller.
Fig.4.16. Speed Response of BLDC Motor with Fuzzy Online -PID Controller
When the Load Torque applied is 40NM
Fig.4.17. Torque Characteristics of BLDC Motor with Fuzzy Online -PID

Controller when the Load Torque applied is 40NM
Fig 4.16 shows the speed of the BLDC motor when step load 40NM is applied
at t=0 sec then time taken 0.0168sec time to settle at reference speed 4600 RPM. Fig
4.17 shows the torque characteristics of BLDC motor at constant load torque.

When Load Torque applied is Changed from 30 NM to 40 NM
Fig.4.19. Torque Characteristics of BLDC motor with Fuzzy Online -PID

Controller When Load Torque applied is Changed from 30 NM to 40 NM
Fig 4.18 shows the speed Wave from of the BLDC motor when Step load
changed from 30 NM to 40 NM at t=0.5 Sec. Online fuzzy- PID controller takes 0.01
sec to settle at 4600 RPM when load change accord from 30 NM to 40 NM. Fig 4.19
shows the toque wave form of BLDC motor load change occurred at 0.5 sec.

When Load Torque applied is Changed from 40 NM to 30 NM

Controller When Load Torque applied is Changed from 40 NM to 30 NM
Fig 4.20.shows the speed Wave from of the BLDC motor when step load
changed from 40 NM to 30 NM at t= 0.5 sec. Online fuzzy- PID controller takes 0.008
sec to settle at 4600 RPM when load change accord from 40 NM to 30 NM. Fig 4.21
shows the toque wave form of BLDC motor load change occurred at 0.5 sec.


Controller When Speed Changes from 3600 RPM to 4600 RPM.
speed change accord but constant load condition. Online fuzzy-PID controller takes
0.012 sec to change speed.

Fig.4.24. Speed Response of BLDC Motor With Fuzzy Online -PID controller
When Speed Changes from 4600 RPM to 3600 RPM.

Controller when Speed Changes from 4600 RPM to 3600 RPM.
speed change accord but constant load condition. Online fuzzy-PID controller takes
0.01 sec to change speed.

4.3 COMPARISON OF PROPOSED CONTROLLERS WITH PID, FUZZY

PID, ADAPTIVE FUZZY PID, ANFIS CONTROLLERS:
Fig.4.26. Comparison of Speed Response of BLDC Motor with Different

Controllers When the Load Torque applied is 40 NM
Fig.4.27. Comparison of Torque Characteristics of BLDC Motor with Different

Controllers when Load Torque load applied is 40 NM
From Fig. 4.26 shows the performance of the PID, FUZZY-PID, Adaptive
Fuzzy PID, ANFIS, ANFIS-PID controllers of BLDC motor on reference speed of 4600
rpm with 40 NM. From results it is concluded that ANFIS-PID controller and Fuzzy

gain tuned controller. Gives better settling, rise, and peak time. Fig 4.27 shows the
torque characteristics of BLDC motor load Torque at 40 NM.

Controllers When Load Torque applied is changed from 30 NM to 40 NM
Fig.4.29. Comparison of Torque Characteristics of BLDC Motor with different

Controllers When Load Torque applied is Changed from 30 NM to 40 NM


Controllers When Load Torque applied is changed from 40 NM to 30 NM

Controllers When Load Torque applied is Changed from 40 NM to 30 NM
BLDC drive has many applications, in that most of the applications are varying
load applications. Proposed ANFIS-PID and Fuzzy online-PID controllers with
SVPWM technique has capable to control the speed of the motor under varying load
conditions. From fig 4.28 & 4.30 it is observed that speed of the BLDC drive regulated
load Torque increase from 30 NM to 40NM are decrease from 40NM to 30 NM within
minimum time. Fig 4.29 & 4.31 Shows that drive torque follows the loading condition.

From the results it is observed that proposed controller gives superior performance for
high speed BLDC motors.

Controllers When Speed Changes from 4600 RPM to 3600 RPM
Fig.4.33.Comparison of Torque Characteristics of BLDC Motor with Different

Controllers when Speed Changes from 4600 RPM to 3600 RPM


Controllers When Speed Changes from 3600 RPM to 4600 RPM

Controllers when Speed Changes from 3600 RPM to 4600 RPM
In real time applications drives speed may increase are decrease from desired
speed fig 4.32 & 4.34 by using proposed controllers with minimum time speed is
regulated.

4.4 SUMMARY:
This chapter explains about Matlab/Simulink model for speed control of BLDC
motor and comparisons of two proposed controllers with PID, Fuzzy-PID, Adaptive
Fuzzy PID, ANFIS and ANFIS-PID for different set speed, loading conditions.

5.1 CONCLUSION:
In this Project a hybrid controller is proposed. A comparative study is made with
online gain tuned PID controller. The fuzzy online gain tuned PID controller is used in
outer loop to minimize the error. A sensitive analysis of proposed controller is done for
different loading conditions.
Table 5.1, 5.2 & 5.3 shows output results of the proposed controller, it is evident
that the proposed controller outperform than the other controller like Fuzzy, ANFIS,
ANFIS-PID in terms of rise time, Settling time, peak overshoot.
Controllers Rise Settling % Over Peak Peak
Time(sec) Time(sec) shoot Value(RPM) Time
(SEC)
PID 0.1 0.21 0.48 4949 0.3
FUZZY-PID 0.051 0.25 0.44 4900 0.295
Adaptive
Fuzzy- PID 0.06 0.025 0.55 4649 0.29
ANFIS 0.05 0.0275 0.733 4611 0.0219
ANFIS-PID 0.017 0.0274 0.7084 4603 0.02
ONLINE 0.01 0.0168 0.643 4602 0.018
FUZZY-PID
Table.5.1. Comparison of Control System Parameters of speed curve at Constant
Load 40NM
Paramet Load PID Fuzzy Adaptive ANFIS ANFIS Fuzzy

ers conditions PID Fuzzy- -PID online
PID -PID
Settling 30 to 40NM 0.23 0.08 0.075 0.05 0.015 0.01
Time 40 to 30 NM 0.2 0.1 0.06 0.06 0.03 0.02
Recovery 30 to 40 NM 0.1 0.56 0.06 0.054 0.01 0.008
Time 40 t0 30 NM 0.12 0.1 0.08 0.04 0.015 0.01
Table.5.2. Comparison of Control System Parameters of speed Curve at Varying

Load conditions

Parameters Load PID Fuzzy Adaptive ANFIS ANFIS Online

conditi PID Fuzzy -PID Fuzzy-
ons PID PID
Recovery Case A 0.3 0.15 0.1 0.08 0.02 0.012
time Case B 0.35 0.12 0.012 0.05 0.012 0.01
Table.5.3. Comparison of Recovery time of Speed Curve at different set speed
conditions
5.2 FUTURE SCOPE:
 New optimization controllers can be designed for better control performance in
terms of speed and torque.
 Real time proto type model can implement for ANFIS-PID and Fuzzy online
gain tuned controllers.

REFERENCES:
[1] Debjyoti Chowdhurya, Madhurima Chattopadhyaya, Priyanka Roy,
“Modelling and Simulation of Cost Effective Sensorless Drive for Brushless
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[3] Sudhir Gupte.A,” Experimental Analysis and Feasibility Study of 1400 CC
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Converters in
PSCAD,” WCECS 2013, 23-25 October, 2013, San Francisco, USA.
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Electrical, Electronics, Instrumentation and Control Engineering Vol. 2, Issue
2, February 2014.
[7] M. V. Ramesh1, J. Amarnath2, S. Kamakshaiah3 and G. S. Rao, “Speed
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[8] J. C. Basilio and S. R. Matos, “Design of PI and PID Controllers with
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Fuzzy Logic Controller,” International Journal of Electrical, Electronics and
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[10] M. R. Feyzi, S. A. KH. Mozaffari Niapour, “Supplying a Brushless DC Motor

by Z-Source PV Power Inverter with FLC-IC MPPT by DTC Drive,” IEEE,
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[11] Ailreza Fereidouuni Mohammad A.S Masoum, Moayed Moghbel, “A new

adaptive configuration of PID type fuzzy logic controller,” Science direct
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P.Sivaprakasam,”Mitigation of Torque for Brushless DC Motor: Modeling
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Synchronous Control Strategy of Double-Motor,” Intelligent Systems and
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Adaptive Fuzzy PID Controller,” Sciverce science direct, 2012. International
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Mohammad Reza Arvan, “Stabilization loop of a two axes gimbal system
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and Adaptive Speed Controller for a Brushless DC Motor,” IEEE
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[19] Ali Sadighi, Student Member, IEEE, and Won-jong Kim, Senior Member,
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Speed Control of BLDC Motor Using Hybrid Controller: Strart Up

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Speed Control of BLDC Motor using Hybrid Controller

Dept. of EEE, MITS 1

1.3 OBJECTIVE OF THESIS:

Dept. of EEE, MITS 2

Dept. of EEE, MITS 3

Dept. of EEE, MITS 4

1.5 ORGANIZATION OF THESIS:

Dept. of EEE, MITS 5

Dept. of EEE, MITS 6

Fig.2.1. Sinusoidal back EMF of BLDC motor

Fig.2.2. Trapezoidal Back EMF for BLDC motor

Dept. of EEE, MITS 7

Fig.2.3. Rotor magnets of the BLDC motor

Dept. of EEE, MITS 8

2.3 PRINCIPLE OF OPERATION OF BLDC MOTOR:

Fig.2.4. Cross sectional view of BLDC motor

Dept. of EEE, MITS 9

Dept. of EEE, MITS 10

2.4 MATHEMATICAL MODELLING OF BLDC MOTOR:

Fig.2.6. Circuit Model for BLDC motor

State space representation of voltage equations:

Va, Vb and Vc = Phase Voltages of the motor

Dept. of EEE, MITS 11

The Electromagnetic Torque Equation Expressed as

The equation of Motion is given as

Dept. of EEE, MITS 12

Fig .3.1. PWM pulses for speed control

Dept. of EEE, MITS 13

controlled by the switching variables a, a, b, b, c and c. When an upper transistor is

Fig.3.2. Three-phase voltage source PWM Inverter

Dept. of EEE, MITS 14

Dept. of EEE, MITS 15

Fig.3.5. Closed loop Speed control of BLDC motor

Fig.3.6. Simulink model for Fuzzy-PID controller

Dept. of EEE, MITS 16

Table.3.2. Rules For Fuzzy controller

Fig.3.7. Simulink model for Adaptive Fuzzy-PID controller

Dept. of EEE, MITS 17

Fig .3.8. Shows the structure of fuzzy-PID controller

Fig .3.9.Inputs Member Ship Functions

Dept. of EEE, MITS 18

Fig .3.10. Output Member Ship Functions (Kp, Ki, Kd)

Table.3.3. Rules for Adaptive Fuzzy-PID controller

Dept. of EEE, MITS 19

3.3.3 ANFIS Controller:

Fig.3.11. Block diagram of ANFIS controller

Fig 3.12. Modified training data for ANFIS controller

Dept. of EEE, MITS 20

Fig. 3.13. Trained data

Fig.3.14. ANFIS model Structure

Dept. of EEE, MITS 21

3.3.4 ANFIS-PID Controller:

Fig.3.15. ANFIS-PID Controller

Fig.3.16. ANFIS model Structure

Dept. of EEE, MITS 22

3.3.5 Fuzzy Online Gain Tuned PID Controller:

Fig.3.17. Fuzzy online gain tuned PID controller

Dept. of EEE, MITS 23

Table.3.4. Fuzzy online gain tuned PID controller

Dept. of EEE, MITS 24

4.1 ANFIS-PID CONTROOLER:

Fig.4.1. MATLAB/SIMULINK model for the proposed ANFIS-PID controller