Speed Control of BLDC Motor using Hybrid Controller

Presented
by
Mr. K. VASUM.Tech.,(Ph.D),
Assistant professor in Electrical and Electronics Engineering

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

MADANAPALLE INSTITUTE OF TECHNOLOGY & SCIENCE
(Approved by AICTE, New Delhi and Affiliated to J.N.T.U.A, Anantapur)
Madanapalle , Chittoor (Dist.), A.P.
An ISO 9001:2008 Certified Institution
2013-2015
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CONTENTS:

Problem Identification
Abstract
Block diagram of the BLDC Motor
MATLAB/SIMULINK Circuits
Proposed Controllers
Results
Conclusion
References
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ABSTRACT:

In this project, hybrid Adaptive Neuro Fuzzy Inference System

ANFIS-PID controller and Fuzzy online gain tuned PID controller
are proposed for speed control of BLDC motor.
BLDC motor contains two control loops i.e., inner loop and outer
loop.
Inner loop uses SVPWM Technique to generate the PWM pulses for
Inverter.
By varying the voltage across BLDC motor, outer control loop
regulates the speed of the motor. In order to validate the effectiveness
of the proposed controllers, the Brushless DC motor is operated in
different set speed and loading conditions.
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BLOCK DIAGRAM OF THE BLDC MOTOR:

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CLOSED LOOP SPEED CONTROL:

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 SIMULINK MODEL OF PROPOSED SVPWM INVERTER
WITH ANFIS-PID CONTROLLER FOR BLDC

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ANFIS - Proportional Derivative controller (ANFIS-PID) :
Input 1: 7 Gauss type membership functions
Input 2: 7 Gauss type membership functions
Output : 49 membership functions
The training data (E, CE) given to controller and trained then it generate the Sugeno
rule base with optimum output range.

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RULES FOR FUZZY ONLINE GAINTUNED PID CONTROLLER:
Change in Kp Change in Kd

NB NS Z PS PB NB NS Z PS PB

NB
VVB VVB VVB VB B
NB VVB VB B B B
NS
VVB VVB VB VB B
NS VVB VB VB B M
Z
VB VB B PS PS
Z B M NS NS NS
PS
B M M M M
PS B B M NS NS
PB
M M NS NS NS
PB M NS NS B NS
Change in Ki Change in Kc
NB NS Z PS PB NB NS Z PS PB

NB NS NS M M VB NB NS NS M M VB
NS NS NS NS NS M NS NS NS NS NS M
Z NS NS NS M VB Z NS NS NS M VB
PS M M M M NS PS M M M M NS
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PB NS NS Fuel &NS
Energy M VB PB NS NS NS M VB
EMF wave forms of BLDC motor:

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Stator currents of BLDC motor:

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Comparison of Speed Response of BLDC Motor with Different Controllers
When the Load Torque Applied is 40 NM:

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Comparison of Torque Characteristics of BLDC Motor with Different Controllers
when Load Torque load Applied is 40 NM :

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Table.1. Comparison of speed characteristics of BLDC motor at constant
load 40Nm:
Controller Rise Settling % Over shoot Peak Peak Time
Time(sec) Time(sec) Value(RPM) (SEC)

PID 0.1 0.21 0.48 4949 0.3

FUZZY-PID 0.051 0.25 0.44 4900 0.295

ADAPTIVE FUZZY- 0.06 0.025 0.55 4649 0.29

PID
ANFIS 0.05 0.0275 0.733 4611 0.0219

ANFIS-PID 0.017 0.0274 0.7084 4603 0.02

ONLINE FUZZY- 0.01 0.0168 0.643 46025 0.018

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Comparison of Speed Response of BLDC Motor with Different Controllers
When Load Torque Applied is changed from 30 NM to 40 NM :

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Comparison of Torque Characteristics of BLDC Motor with different Controllers When
Load Torque Applied is Changed from 30 NM to 40 NM :

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Comparison of Speed Response of BLDC Motor with Different Controllers When Load
Torque Applied is changed from 40 NM to 30 NM:

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Comparison of Torque Characteristics of BLDC Motor with Different Controllers
When Load Torque Applied is Changed from 40 NM to 30 NM :

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Table.2. Comparisons of speed characteristics of BLDC motor at
varying load conditions:

Parameters Load PID Fuzzy PID Adaptive ANFIS ANFIS- Fuzzy

conditions Fuzzy-PID PID online
-PID

Settling Time 30 to 40NM 0.23 0.08 0.075 0.05 0.015 0.01

40 to 30 NM 0.2 0.1 0.06 0.06 0.03 0.02

Recovery Time 30 to 40 NM 0.1 0.56 0.06 0.054 0.01 0.008

40 t0 30 NM 0.12 0.1 0.08 0.04 0.015 0.01

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Comparison of Speed Response of BLDC Motor with Different Controllers When
Speed Changes from 3600 RPM to 4600 RPM:

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Comparison of Speed Response of BLDC Motor with Different Controllers
When Speed Changes from 4600 RPM to 3600 RPM:

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Table.3. Comparison of Recovery time of Speed Curve at different
set speed conditions:

Parameters Load PID Fuzzy PID Adaptive Fuzzy ANFIS ANFIS-PID Online
conditions PID Fuzzy-PID

Recovery time Case A 0.3 0.15 0.1 0.08 0.02 0.012

Case B 0.35 0.12 0.012 0.05 0.012 0.01

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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 1, 2 &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.
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