CHAPTER 1 INTRODUCTION

1.1

GENERAL
During the past few decades power semiconductors, microprocessors/logic

ICs, adjustable speed driver control schemes and permanent-magnet brushless electric motor production have combined technological advancement to enable reliable, cost-effective solution for a broad range of adjustable speed applications. Traditionally, household appliances have relied on historical classic electric motor technologies such as single phase AC induction motor, including split phase, capacitor-start, capacitor-m types and universal motor. However, these classic motors are operated directly from main AC power typically without regarding the efiiciency and they consume more electric power. But consumers now demand for lower energy costs, better performance, reduced acoustic noise, and more advantageous features such as high power to weight ratio, high torque to current ratio, fast response and above all high operating efficiency. The features of high operating efficiency, brushless construction, maintenance free operation and increasing awareness about energy conservation have given scope to employ the PMBLDC motor in home appliances, robotic drives, machine tools, pumps, blower systems, locomotive drives, and so on [1,2]. As a result, a major transition from traditional motor control systems to PMBLDC motor systems is in progress. The transition has been in effect since the

1990s when movements towards conservation of energy and protection of the

environment were initiated. About seventy percent of all electrical energy is converted into mechanical energy by motors in the industrialized world. This may be the most important factor behind today's high demand for more efficient motion

control systems. Exhaustive research work has been done on PMBLDC motor control system due to the significant industrial and commercial interest in such systems. Still there is greater scope to continue the research in the area of robust controller design and identification of PMBLDC motor. The PMBLDC motor is one of the motor types rapidly gaining popularity. PMBLDC motors are used in industries such as appliances, automotive, aerospace, consumer, medical, industrial automation equipment and instrumentation. As the name implies, PMBLDC motors do not use brushes for commutation; instead, they are electronically commutated. PMBLDC 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 [3]. More PMBLDC machines are therefore being used, often in critical high performance applications. Controller design and identification of PMBLDC machines are therefore assuming a new importance. Early detection of faults and asymmetries could allow preventive maintenance to be performed and provide sufficient time for controlled shutdown of the affected process, thereby reducing the costs of outage time and repairs. Though considerable research work has been done in the controller design and identification of induction motors and switched reluctance motors, more need to be done in PMBLDC machines. In practice, controllers such as Proportional plus integral plus derivative

(PID) type are used to control high-speed motor drives. There are two main
advantages of using PID controller. First, PID controller is relatively easy to design and implement in real time. Secondly, PID controller is proven to be reliable in controlling various types of dynamic systems and robust to system uncertainties. However, the PID controller is not fiee from limitations. The main disadvantage of PID-type of controller is difficulty in tuning gains to achieve a desired closed-loop

performance. Performance specifications such as steady state error, rise time and relative overshoot are common. Unfortunately, to satisfy several desired performance specifications simultaneously, using PID controller requires extensive experience and skill in gain tuning. Gain-tuning is a tedious and time consuming process in most of the high-speed control applications. Therefore, a systematic approach of finding a controller is very much essential to stabilize high-speed positioning control system and achieve desired performance specifications simultaneously.

1.2

RESEARCH MOTIVATION Traditionally cascade control structure is one of the most popular stmctures

for PMBLDC motor control [4,5]. In general, it is applied when the process is to split into two (or more) cascaded parts by measuring one (or more) intermediate variable(s) for the inner loops. Measures to protect the outer loop against saturation of the inner loop are well known and are applied widely in practice. This has resulted in the increased demand for modifications in the conventional cascade control structure aimed to improve control system robustness via complete decoupling of the design and performance of current and speed control loops. The decisive setback for an effective design of speed control of PMBLDC motor is tuning. Though PMBLDC motor control and drive are complex, they are controlled with classical proportional plus integral (Po-PI control structures, which are tuned to give results only around a fixed operating point. Several methods have been proposed for online adaptation and auto-tuning of the controller to achieve optimal response [6-91. Explicit gain scheduling controllers are generally used for the predictable nonlinearity, adapting the PI parameters with the inertial load variations. However, the unpredictable changes in inertial load variations have effected the important change in process dynamics, which requires suitable tuning on the PMBLDC motor drive during its life. Ultimately this has attracted the attention of researchers to bring out an innovative tuning technique.

Conventionally, the cascade proportional integral PI approach is usually implemented for PMBLDC motor speed control system. However, this control scheme may be unsatisfactory while dealing with processes with time delay and multisarnpling environment. Today, model predictive control (MPC) receives wide acceptance in the process and motion control field because of its time domain, optimization based formulation, and natural ability to handle constraints [lo]. The advantage of MPC is that it can solve simultaneously control and optimization problems. MPC maximizes a production index and achieves stability, robustness, and performance of plant mismatch, failures, and disturbances. So the cascade control structure with generalized predictive control (GPC) in both the inner loop and the outer loop is proposed for PMBLDC motor speed control. Conventional control techniques result in tracking error and integral square error (ISE) when the load varies fast and overshoot during transients. To overcome these drawbacks it is necessaty to develop a controller that has the ability to adjust its own parameters in offline and online, according to the environment in which it works, to yield satisfactory control performance. In the last two decades, fuzzy logic controller (FLC) has attracted considerable attention to use as a tool for a novel control approach because of its variety of advantages over the classical control techniques. Many researchers propose new type of fuzzy model that has been proved to be effective to overcome aforesaid problems. Their fuzzy model consists of fuzzy implications whose consequences are described by crisp linear input-output relation functions. Another significance of their fuzzy model is that its consequence parameter is identified by certain algorithms such as the least square method and therefore, the fuzzy model established is more systematic and objective. Unfortunately, the identification procedure is quite complex and is carried out only in off-line which makes it incompetent to deal with motor control systems. Moreover the conventional FLC provides more ISE with considerable identification time. To overcome these drawbacks, a new identification method is proposed for

FLC using adaptive genetic algorithm.

The emphasis of this dissertation is on high performance control strategies for speed and position control of PMBLDC motor system. High performance control strategies are capable of providing accurate control over torque, position and speed. Also it optimizes one or more performance indices such as maximum overshoot, integral square error, efficiency and settling time. This in fact, forms the main goal of this thesis. 1.3 OBJECTIVES An attempt has been made in the present work to modify the existing state of computation through modeling, identification, tuning and control of PMBLDC motor effectively. The following are the salient objectives set for the present work. (i) To design a novel cascade robust control (CRC) strategy for PMBLDC motor in order to provide robust operation and to numerically analyse the stable operating region of the proposed control scheme. (ii) To des~gn new tuning method for the CRC of PMBLDC motor in a order to estimate the controller parameters accurately using time delayed identification technique (TDIT). (iii) To design a new dual generalized predictive controller (DGPC) for PMBLDC motor, while operating in a multirate sampling environment and to minimise the error based on prediction horizon. (iv) To design a k z y position controller and to identify the parameters using the new adaptive genetic algorithm to minimise the identification time and ISE between the output and input.

1.4

LITERATURE REVIEW
A brief overview of historical background followed by critical review of

earlier investigations carried out on PMBLDC motor are presented in this chapter.

Also, critical observations based on critical review of the earlier investigations on cascade controller design, tuning, generalized predictive control and controller parameter identification are presented. English physicist and chemist Michael Faraday constructed a primitive model of the electric motor called dc motor [ll]. Belgian-born electrical engineer Zhobe Thkophile Gramme developed the first commercially viable dc motor in early 1870. The dc motor was in wide spread use in street railways, mining and industrial applications by the year 1900. The concept of controlled delivery of energy from a dc power source to a motor in order to meet the specific demands of an application has come into existence. The same process is being used today in the majority of high performance control systems. The developments that have contributed to the contemporary PMBLDC motor can be m e d back to the 1960s when dc moton with permanent magnets began to displace conventional wound field dc motors. Eventually, with the advent of electronic drives, it became possible to place the magnets of the motor on the rotor, and the windings on the stator. In this case, the drive's primary function is to switch current into the right phase depending on rotor position. The PMBLDC motor does not require a commutator or brushes, since the function of the brushes is delegated to the drive. Obviously, no sparks are generated because the commutation of current is not performed mechanically. From fundamental point of view, the PMBLDC motor can be considered a special type of permanent magnet synchronous motor (PMSM). In both cases the speed of the motor is proportional to the input current frequency. This makes the cooling of the motor easier as compared to the dc or induction motor. PMBLDC motor is usually used for lower performance applications such as pumps and fans, whereas PMSM is mostly used in high performance applications that require high quality torque. Pragasen Pillay and Ramu Krishnan [12] canied out modeling, simulation and analysis of PMBLDC motor especially for large and small signal dynamics, and motor torque pulsations. The results indicated that the small and large signal

responses are very similar when either pulse width modulator (PWM) or hysteresis current controller is used. Also, it was found that the accuracy and repeatability of position servo performance will be affected, particularly if high currents are commanded. Subsequently, a well known engineering selection criteria was proposed to determine application characteristics of PMBLDC motor and PMSM
[ 5 ] . Also, it was concluded that whenever the copper losses of the PMSM and the

PMBLDC motor are equal, then the PMBLDC motor is capable of 15% higher power density. The contribution of the higher harmonics to the total core losses was significant in the PMBLDC motor and equality of the total core losses therefore demands a significantly lower loss contribution from the fundamental component of the flux density of the PMBLDC motor. Further, it was reported that continuous rotor position feedback is needed by the PMSM for proper operation, whereas the PMBLDC motor requires rotor position feedback information only for every 60'. This is an advantage of the PMBLDC motor over the PMSM for speed servos. In a position servo, the rotor position feedback can be used for current commutation by the PMSM. In such case, this advantage of the PMBLDC motor over the PMSM disappears. Further, Pragasen Pillay and Ramu Krishnan 1131 developed the mathematical modeling of PMBLDC motor. They have presented dynamic models and equivalent circuits of two PM machines. Although the PMSM and the PMBLDC are similar in construction, their modeling takes different forms. The d, q model of the wound rotor SM can be easily adapted to the PMSM where as an abc phase variable modei is necessary for the PMBLDC Motor for detailed study of its behaviour. It was reported that both the steady state and dynamic behaviour can be studied using these models. Also, a dynamic model for the PMBLDC motor has been developed by M. A. Jabbar et a1 [I41 using the time-stepping finite element method (FEM). In the proposed model, the external circuit equations and the motion equation are coupled together with the electromagnetic field equations and solved simultaneously. Using the developed model, the dynamic performances of the motor have been studied initially for load torque changes and variation in input voltage.

H.C. Chen

et a1

[IS] suggested a novel robust current control scheme to

speed up the winding current transient responses of PMBLDC motors. The responses are found to be less dependent on the motor parameters and back emf variations. Using the proposed approach, a feedback controller and a command feed forward controller are designed according to the system nominal parameters. A robust controller based on direct disturbance cancellation was then added to reduce the effects of back emf and system parameter variations on the current control performance. The simulation and experimental results have demonstrated better performance of the proposed controller in current tracking transient response, torque generating capability and dynamic speed response. Also, the performances are insensitive to the changes in system operating conditions. Hyeung-sik Choi et a1 [I61 made an attempt to study on sliding mode controller for PMBLDC motor. The sliding mode control drives the system states along the minimum time trajectory within the input torque limit. If the reference input and the bounds of the uncertain parameters and disturbances are specified, the minimum arrival time and the acceleration are expressed in closed-form equations. Also, the controller was applied to the PMBLDC motor with uncertain loads. Further, its invariance properties and robustness against uncertain system parameters and disturbances were studied extensively. It was found that sliding mode controller can completely reject uncertainties and disturbances that satisfy the matching condition when the state is constrained to the sliding surface. Further, T.L. Chem, and Y.C.Wu [17] proposed integral variable structure control approach based on continuous time system. This approach comprises an Integral controller for achieving a zero steady state enor and a variable sbucture controller for enhancing the robustness. In addition, F. Zhang el a1 [I81 and E. Cermto et a1 [I91 theoretically developed and proposed several adaptive control algorithms. But, only a few have been employed in the control of PMBLDC motor drives due to their complexity, poor performance and parameter detuning.

D.J. Dixon and L.A. Leal [20] developed a new current control strategy for brushless DC motors based on common DC signal. The advantages of the scheme are : a) very simple control scheme; b) phase currents are kept balanced; c) current is controlled through a dc component, and hence phase over currents are eliminated. These characteristics allow using the triangular carrier as a current control strategy for the power transistors. It is simpler and more accurate than other options. They have compared the control strategy with conventional techniques and highlighted the excellent characteristicsof this modulation technique.

Z. Ban and P. Crnosija [21] designed a model reference adaptive controller

(MRAC) for PMBLDC motor. They have also reviewed various adaptive control methods and the advantages of MRAC in the context of minimizing the effect of parameter and load variations on the performance of PMBLDC motor. Further, a step by step analysis and synthesis procedures were developed for the signal adaptation of the PMBLDC motor drive system. However, they failed to conclude how the internal motor parameter variations such as rotor flux linkages can be handled with signal adaptation. Funher, a linear PMBLDC motor has been suggested to use whenever linear reciprocating motion is required. This would remove the need for a mechanical device to convert the rotating motion of a conventional PMBLDC motor to linear motion, thus improving accuracy and reliability. Conventional DC machines have operational difficulties at high speed operation. Techniques to overcome them by using PMBLDC motors have been highlighted. The robust controller for brushless DC motor based on the gain and phase margin was proposed by P. Dobra el a1 [22]. They clearly demonstrated the method of using them in the feedback loop around a time invariant system. Also, it was proved that dynamic systems can be considered as static systems with bounded dynamic elements in the feedback loop. Further, a new combined outer loop control scheme, which consists of PID and feed-forward controls, was developed for switched reluctance motor (SRM) by

S.A. Hossain and I. Husain [23]. The results showed that the controller is simple, easy to design, and performs satisfactorily. The feedback loop is for the purpose of obtaining the strong convergence properties of the error. This feedback loop resulted in motor dithering due to the strongly nonlinear properties of the system. The feedforward path was used to operate the system in an open loop fashion to avoid the dithering. The gain of the feed-forward path was determined from the system model and then modified through experiments. The open loop control may lead to a higher steady state error, but it reduces the overall system acoustic noise significantly. Further, P. Crnosija et a1 [24] attempted to optimize the controller design of

PMBLDC motor dnve. They used reference model for desired drive behaviour
generation and optimization methods for determination of a PI speed controller parameters. It was demonstrated that speed controller is capable of compensating both reference and load torque variations, and can be designed in a straightforward manner. Also, the integral time constant of the speed controller lower than maximum drive constant was derived using reference model for desired drive behaviour generation with optimization methods. Further, the results showed that it is possible to d e t m i n e optimal speed controller parameters for faster and better load torque compensation. In addition, the desired speed response overshoot to reference value change was achieved using the tilter added on the drive input. However, the influence of nonlinearities in the case of higher level input signal to motor drive behaviour in optimal and traditionally designed speed controller parameters were not addressed.

X. Qian et a1 [25] studied the robust position control of linear brushless DC

motor drive system based on p-synthesis. The structure of combined mass estimator and three sub-controllers extends the tolerable load variation of the controller considerably. The allowable payload range of the robust controller was as large as O10 kg in the study and both the robust stability and robust performance are guaranteed under the perturbations. Moreover, mode switching control which is widely used in hard-disc drive systems was first applied in the linear brushless DC motor system and improved time response was achieved. Settling time was reduced

to about 0.15s, which is lesser than that of the settling time reported earlier. Simulated and experimental results demonstrated that the proposed control scheme ensures satisfactorytracking position performance as well as suppresses the effect of large parameter variations of the plant. K.M.Tsang and W.L.Chan [26] proposed a new robust cascade controller approach for DC-DC converter. The proposed cascade controller outperforms a conventional single-loop PI controller with better disturbance rejection and a faster speed of response. The controller was proved to be robust against load changes and supply changes. Also, it can be implemented as a low-cost add-on to a conventional single loop controller. Xiao Xi et a1 [27] developed a novel control strategy for brushless DC motor based on torque equation to improve the torque performance. They have reported that the proposed method shortened the phase current's transition time to 4ms and also reduced the torque ripples to less than 1%. The calculations are much simplified, since only phase currents and rotating speed value are needed before commutation in the constant current method. The minimum torque ripples method introduces more measure error and complex calculations as it requires instantaneous feedback of phase currents. In order to overcome the disadvantage mentioned above, a linearised equation of phase currents in commutation process was used, which can avoid the phase currents sensing.
1. Kaya et ul [28j proposed an improved cascade control structure and

controller design for controlling unstable and integrating processes. A PI-PDSmith predictor scheme was used in the outer loop of the cascade control. This gained two advantages: First, the best merits of the cascade control and a Smith predictor scheme were combined in one structure. Second, the use of

PI-PD controller

accomplished to obtain improved performance for unstable and integrating processes. Several procedures for obtaining the parameters of the PI-PD controller are possible, but one of the simplest approaches is to employ standard forms as this enables the design to be completed using simple algebra.

Further, a new hybrid control approach for cascade temperature control in catalyst regeneration was suggested by A.J. Modak et a1 [29]. The results showed that new hybrid control approach has achieved improved performance and system behaviour against any kind of disturbances over an existing feedback control system. Also, it was evident that the settling time and steady state error were reduced and the gain cross over frequency was increased almost three times. Z. Preitl et a1 [30]proposed a solution for the traction motor for hybrid electric vehicles. Different variants of the modulus optimum tuning methods (MOTM) such as the extended symmetrical optimum method (ESOM) and double parameterization of the ESO method (DPESOM) were used to design controller to ensure higher performance. The simulation studies carried out reflected a very good behaviour of the system both regarding reference tracking and also sensitivity to parameter changes. R. Dubay
et

a1 [31] proposed new controller and closed loop transfer

functions for move suppressed and shifted dynamic matrix control to compare the conwoller robustness. The development of these transfer functions are for any plant requiring its open loop step or impulse response. A generic algorithm for selecting controller tuning parameters based on controller robustness was developed and demonstrated on a real-time plant. Shifted DMC was shown to be generally more robust than move suppressed DMC, and therefore better suited to control plants with widely ranging parameters. It was W e r verified on a plant having a cascade control structure being the most robust to plant variations. Pony Caballero et a1 [32] investigated on postural stability problem for the nonlinearly actuated quasi-static biped robots. They have demonstrated VSC/H, robust cascade control architecture to cope with the nonlinear system characteristics and its associated uncertainties. On the other hand, frequency domain techniques are proven to be very effective to obtain and to validate experimentally the transfer function between the robot joint variables and the zero moment point (ZMP) its with associated uncertainty in the presence of nonlinearities. The proposed cascade

controller VSC/H, was able to keep the robot joint positioning set points and stabilize the ZMP reference (desired) position against different external disturbances. However, the achieved speed of response was slow due to the inherent limitations owing to the non-minimum phase properties of the physical system. The use of a feed forward term in the outer loop controller was proved to be very effective for substantially improving the stability margin. S. Morimoto er a1 [33]attempted to improve efficiency of permanent magnet (PM) synchronous motor drives. The controllable electrical loss consisted of the copper loss and the iron loss could be minimized by the optimal control of the armature current vector. K. Jang-Mok and S.Seung K [34]proposed a novel fluxi weakening scheme for an Interior Permanent Magnet Synchronous Motor (IPMSM). It was implemented based on the output of the synchronous PI current regulator reference voltage to PWM inverter. The on-set of flux weakening and the level of the flux were adjusted inherently by the outer voltage regulation loop to prevent the saturation of the current regulator. Further, Jim-Xin Xu et a1 [35] adopted a modular control approach to a permanent-magnet synchronous motor (PMSM) speed control. The modular approach enabled the powerfully intelligent and robust control modules to easily replace any existing ineffective module while retaining existing effective modules. Further, H. Kokame el a1 [36] analysed the robust H, performance for linear-time invariant delay-differential closed loop systems with time v w n g uncertainties. Although, closed loop system was analysed, controller design methodology was not established. Also, they did not deal with time- varying delay.

I Since P D control is relatively simple to implement in real time, it can be

combined with other control method such as torque control and adaptive control to achieve certain performance specifications in position control. However, PID control has a number of limitations. One of the limitations is that the PI type of control cannot smoothen the initial excursion of cumnt. The unpredicted disturbances and noises cannot be handled due to the analog limitation of the PID control in high

performance drive applications as drive systems are required to respond quickly to changes in system parameters, and to rccovn rapidly from disturbance situation. Another disadvantage of PID-type control is its gain tuning nature as it requires experience to achieve better performance. In fact, it is tedious and time consuming to mine the gains to meet the desired performance specificationssimultaneously.

Very few methods are available in the literature for tuning of cascade control
systems. Y. Lee er a1 [37] proposed a method to tune the P-PI (Inner loop proportional and outer loop PI) and PID-PID (Inner loop PID and outer loop PlD) controllers both for the inner loop and the outer loop simultaneously. McLaren series was used in this method to find out ideal controller. They reported that the proposed method outperform the other methods such as, the frequency response method and ITAE minimization method. Later, K.J. Astrom et a1 [38] proposed relay feedback method to get the ultimate frequency and ultimate gain. Subsequently, Su Whan Sung et a1 [39] suggested a modified relay feedback method to get more accurate ultimate information of the motion process. The ultimate data identified the system in the presence of static load disturbance. The self-tuning regulator is a class of adaptive controllers used with the assumption that the process to be controlled has constant but unknown parameters
[40,41]. However, the self-tuning regulators can also be used in an adaptive context.

Thus, there is a need to have adaptive controllers with higher level of capabilities, sophistication and effectiveness. The importance of developing such adaptive tuning controllers has already been recognized and efforts are on to realize the same. C.C.Hang and K.K.Sin [42] comprehensively evaluated the performance of differenttypes of PID auto tuners. The performance criteria were evaluated based on ISE, set point and load response. It has been suggested that robustness to poor initial tuning, poor process nonlinearity and ability to recover from instability should be considered in future research. Further, C.C.Hang and K.K.Sin suggested [43] on-line auto tuning of PID controller based on the cross-comelation technique. This method of auto tuning can be readily applied to a wide variety of processes with minor

permibation on their normal operation. The simulation results verified the operation of on-line algorithm and demonstrated its robustness in the presence of noise. The auto-tuning algorithm can be used in several ways. It may be used off line or on line to check or to assist tuning of controller in existing digital control systems. Also, it may be easily incorporated into stand-alone single-loop controller to provide an option for on-line automatic tuning. Further, M. Zhuang and D.P. Atherton [44] developed some simple tuning methods using time weighted integral of error performance criteria for a first-order plus dead time plant (FOPDT) model. The proposed model was found to work well for other process transfer functions particularly those with a significantly large dead time even though they are derived for a FOPDT model. Initially, some tuning formulae were developed in terms of the parameters of a FOPDT model for optimisation of ISE, ITAE and MT'E criteria. Subsequently, studies were carried out on ITAE criterion for the FOPDT process and proposed two methods for

I achieving optimum P D parameter to be used with the auto-tuning approach.

Several proposals were made during past two decades to use predictive control algorithms for high performance systems. Some of them have been realized in industrial applications so far [45]. Nevertheless, it was expected that the advantages of predictive algorithms would lead to an increased number of industrial implementations. An interesting approach to unify different ideas of predictive control is generalized predictive control [46-501. Studies on generalized predictive control have proved that a better efficiency is possi5le due to auto tuning procedures. Concerning predictive control, E. Irving
er a1 [51] introduced reference models based on the idea of GPC. An extension to a

cascaded structure, P. Boucher et a1 [52] developed the GPC as a monovariable case. Subsequently, a controller [53] designed to track torque and rotor flux references with an extension to velocity and position control including current limitations. The robustness to parameter variations and load disturbances w m achieved by using the cascaded predictive control combined with input-output toque and flux

7linearization. Also, improving performances of PMBLDC motor can be achieved with predictive control laws instead of classical P D controller. I Although, fuzzy logic control is a good tool to deal with complicated, nonlinear and ill-defined systems, it suffers from a drawback of "parameter tuning" for the controller. Hence, there is a need for an effective method for tuning the membership functions and rules so as to minimize the output error or maximize the

uz performance measure. Recently, an important adaptive f z y control system has

been developed to incorporate with the expert information system and the stability

was assured by theoretical analysis. However, the matching error may diminish the hacking performance. In the adaptive fuuy control the perfect matching of parameten is generally deemed impossible, and a desired tracking performance cannot be assured. In the last decade, H, optimal control principle has been well established and found vast application to skillfully treat the robust stabilization and disturbance rejection problems. Even though considerable progress has been made in terms of designing H-optimal controllers, selection of suitable performance weights is still the main problem in design of a robust H,controller. Another type of controller based on fuzzy logic is being increasingly applied to many systems with non-linearity and indecision [S4]. This kind of controller technique has several advantages over other control techniques such as auto-tuning technology for a wide range of operating conditions and precise control performance. In spite of t h s c advantages. the design of fuzzy logic controller is still practically performed with trial and m r method which prevents a wide diffusion of system controllers.

T.0. Kowalska and K. Szabat (551 developal an optimization technique for

the fuuy logic spad controller for DC drive. Recently, the FL techruques were also

used for linear or quasi-linear systems. It was clear thal even for a linear plant, the
control problem becomes a nonlinear one if the control index is nonlinear. In such
case, the linear controller is not effective and the FL controlla with nonlinear

control surf= can give much bmer results. However, analytical tuning mahods for

FL controllers an yet to be evolved. This problem can be solved using other

artificial intelligence techniques, i.e., genetic algorithm (GA). Optimisation of parameters by means of Genetic Algorithm was originally proposed by J.J. Grefenstette [56]. The method was tested for optimization of nonlinear processes and was found to show the improved robustness and efficiency. Later, GA was effectively applied for other applications. However, the research work was limited to three PID parameters. A more complex optimization was proposed by W.K. Lennon and K.M. Passino [S7], where adaptive control was reached by means of genetic algorithms. A GP approach was suggested by J. Manhew Kcane et a1 [S8] to make controller structure and tuning for the m

process. No assumptions were made to design controller structure and also the re method is free to evolve the most suitable ~ h i t e ~ h l for the PMBLDC motor controller identification problem. However, when there is a sudden change in the parameter values, such as component failure and any functional changes due to internal or external influence, dynamic controllers often fails or won't be able to perform within a certain performance criteria. The main m n for such a failure is discontinuous changes in the plant structure or functional property, which are not often accommodated in such designs. Furthermore, these schemes are generally limited to linear sFtems with changing parameters, and do not lend to perform well for time varying nonlinear systems. Thus there is a need to have adaptive controllers with higher level of capabilities, sophistication and effectiveness. The importance in developing such and adaptive controllers has already been recogn~zed eKom are on to realise it. The critical review of literature on controller design, tuning and ~dentificationof PMBLDC motors revealed that much more need to be done re&ng simulation and expenmenla1 verification. Also, it is evident that attention was focused only on the operation of the machine in the steady state and developing the machine dynamics to optimize the motor size and efficiency. But scant attention was paid towards the controller design and its optimization to achieve energy

efficient operation of the motor. Hmce an attempt has bem made in the present work to introduce controller design and its optimization to study the performance evolution of the PMBLDC motor under transient and steady state conditions.
1.5

THESIS ORCANISATION The organisation of the dissertation is as follows: Chapter 1 provides an overview of the PMBLDC motor controller design

and identification strategies. The merits and demerits of each scheme are highlighted and the need for developing innovative control approaches is brought out, with a view to improve the performance of motor systems. The different performance indices used for evaluating the system performance are reviewed.
A novel speed control technique based on cascade control concept suitable

for PMBLDC motor system is detailed in Chapter 2. Systematic mathematical model, design of speed and current controller and numerical analysis of stability for the proposed and conventional structure are discussed. The proposed technique is simulated and the results are compared with the conventional method.
A new self tuning technique based on TDIT is proposed for the CRC of

PMBLDC motor system and is discussed in Chapter 3. The different types of self tuning techniques are compared with the proposed method. The relative performance of proposed self tuning technique in the presence of set point change, static load disturbance and measured noise have been proposed. Chapter 4 illustrates the novel design of dud generalised predictive controller for PMBLDC motor which is based on prediction horizon. The measured. unmeasured disturbance rejection capability and handling of non-minimum phase characteristics are discussed. The theoretical and simulated results are compared for validation.

An identification technique for fuzzyposition controller for PMBLDC motor

based on AGA is proposed in Chapter 5. The optimised parameters of the fuzzy
controllers are identified for different input signals. The ISE and the identification time are estimated and the results are compared with conventional methods. The thesis is concluded in Chapter 6 along with the scope for future research in this area and limitations. The salient features of the work camied out and the major contributions an summarised.