SPEED CONTROL OF BLDC MOTOR USING ADAPTIVE

FUZZY PID CONTROLLER

A PROJECT REPORT (EEB4441)
Submitted by
DIVI BHARATH (18117004)
BODAPATI VENKATESWARA RAO (18117005)

Under the guidance of

Dr. NAGESWARA RAO KUDITHI
Assistant Professor
In partial fulfilment for the award of the degree
of
BACHELOR OF TECHNOLOGY
in
ELECTRICAL AND ELECTRONICS ENGINEERING

DEPARTMENT OF ELECTRICAL AND ELECTRONICS

ENGINEERING

SCHOOL OF ELECTRICAL SCIENCES

HINDUSTAN INSTITUTE OF TECHNOLOGY AND SCIENCE

PADUR, CHENNAI-603103

MAY 2022
 BONAFIDE CERTIFICATE

Certified that this design project report titled “SPEED CONTROL OF

BLDC MOTOR USING ADAPTIVE FUZZY PID CONTROLLER” is
the bonafide work of “DIVI BHARATH (18117004), BODAPATI
VENKATESWARA RAO (18117005)”, who carried out the design
project work under my supervision. Certified further that to the best of my
knowledge the work reported here does not form part of any other design
project on the basis of which a degree or award was conferred on an earlier
occasion on this or any other candidate.

HEAD OF THE DEPARTMENT SUPERVISOR

Dr.A.K PARVATHY Dr.NAGESWARA RAO KUDITHI
Professor, Professor,
Electrical and Electronics Engineering Electrical and Electronics Engineering
Hindustan Institute of Technology Hindustan Institute of Technology
& Science & Science
Padur- 603 103 Padur - 603 103

The design Project Viva-Voce Examination is held on …………….

INTERNAL EXAMINER EXTERNAL EXAMINER

ii
 ABSTRACT
Brushless DC (BLDC) Motors are widely employed in a variety of industrial
applications because of their high efficiency, high torque, and low volume. To
accomplish the speed of the BLDC Motors, this work proposed an improved Adaptive
Fuzzy PID controller. The performance of Conventional PID controllers, Fuzzy PID
controllers, and Adaptive Fuzzy PID controllers are discussed in this work. Using a
standard PID controller to set the parameters and achieve satisfactory control
characteristics is tough. Because the Adaptive Fuzzy has the capacity to satisfy control
qualities while also being simple to compute, it is a good choice. The experimental results
show that an Adaptive Fuzzy PID controller outperforms both a Fuzzy PID controller
and a conventional PID controller in terms of control performance. The BLDC motor
was modelled, controlled, and simulated using the MATLAB/SIMULINK software
suite.

Keywords—BLDC Motors, Conventional PID controller, Fuzzy PID controller,

Adaptive Fuzzy PID controller, MATLAB.

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 ACKNOWLEDGEMENT
First and foremost, we would like to thank the Lord Almighty for his presence and
immense blessings throughout the design project work.

It’s a matter of pride and privilege for us to express our deep gratitude to the management
of HITS for providing us the necessary facilities and support.

We are highly elated in expressing our sincere and abundant respect to the Pro Vice-
Chancellor Dr.S.N SRIDHARA for giving us this opportunity to bring out and
implement our ideas in this design project.

We wish to express our heartfelt gratitude to Dr.A.K PARVATHY, Head of the

Department, Department of Electrical and Electronics Engineering for much of her
valuable support encouragement in carrying out this work.

We would like to thank our supervisor Dr. NAGESWARA RAO KUDITHI, Assistant
professor, Department of Electrical and Electronics Engineering for continually guiding
and actively participating in our design project, giving valuable suggestions to complete
the design project work.

We would like to thank all the teaching and nonteaching staff of the Electrical and
Electronics Engineering Department, who extended directly or indirectly all support.

Last, but not the least, we are deeply indebted to our parents who have been the greatest
support while we worked day and night for the design project to make it a success.

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 LIST OF CONTENTS

CHAPTER
TITLE PAGE NO
NO

ABSTRACT iii
ACKNOWLEDGEMENT iv
LIST OF CONTENTS v
LIST OF FIGURES vi
LIST OF TABLES vii

1 INTRODUCTION & OBJECTIVE

1.1 PROJECT OVERVIEW 1
1.2 OBJECTIVE 2

2 LITERATURE SURVEY 3

3 DESIGNING & MODELLING OF BLDC MOTOR

3.1 BLOCK DIAGRAM 4
3.2 SIMULATION MODEL DIAGRAM OF 5
SPEED CONTROL OF BLDC MOTOR

4 CONTROLLER CIRCUITS
4.1 PID CONTROLLER 7
4.2 FUZZY PID CONTROLLER 8
4.3 ADAPTIVE FUZZY PID CONTROLLER 12

5 SIMULATION RESULTS &GRAPHS

5.1 SIMULATION RESULTS 15
5.2 PERFORMANCE RESULTS 17

6 CONCLUSION 19
REFERENCES 20

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 LIST OF FIGURES
FIG PAGE
TITLE
NO NO
3.1 Block Diagram of Speed Control of BLDC Motor 4

3.2 BLDC Motor Hall Sensor Signal Graph 5

3.3 Simulation Model Diagram 6

4.1 Simulation Model of PID Controller 7

4.2 Simulation Model of Fuzzy PID Controller 8

4.3 Fuzzy PID Controller Error(e) 9

4.4 Fuzzy PID Controller Change in Error(ce) 9

4.5 Membership Function of Kp Output 10

4.6 Surface Viewer for Kp 11

4.7 Rule Viewer for Kp 11

4.8 Simulation Model of Adaptive Fuzzy PID Controller 12

4.9 Membership Function of Kd Output 13

4.10 Surface Viewer for Kd 14

4.11 Rule Viewer 14

5.1 PID Controller Reference Speed of 300 rpm with No Load 15

5.2 Fuzzy PID Controller Reference Speed of 300 rpm with No Load 15

5.3 Adaptive Fuzzy PID Controller Reference Speed of 300 rpm with No 16

Load

5.4 Reference Speed of 300 rpm with No Load 16

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 LIST OF TABLES

TABLE PAGE
TITLE
NO NO
4.1 Fuzzy Lookup Table for Kp 10

4.2 Fuzzy Lookup Table for Kd 13

5.1 Performance Result of PID Controller 17

5.2 Performance Result of Fuzzy PID Controller 17

5.3 Performance Result of Adaptive Fuzzy PID Controller 18

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 CHAPTER 1
INTRODUCTION & OBJECTIVE
1.1 PROJECT OVERVIEW

In industry, there are primarily two types of dc motors. The first is the traditional dc
motor, which generates flux by passing current through the stationary field coil building
made out of poles. The brushless dc motor is the second type, where the air gap is created
by the permanent magnet instead of wire-wound field poles, flux is used. The BLDC
(brushless DC) motor is also known as permanent magnet synchronous motor. Back
EMF waveform having a trapezoidal shape.

As a result, Brushless DC motors as the name suggests do not use brushes for
commutation; instead, they are commutated electronically and High-performance BLDC
motor drives have recently become popular and utilized in industrial variable speed drive
systems electrified cars and applications.

In practice, designing the BLDCM drive entails a lengthy procedure that includes
modelling, control scheme selection, simulation, and parameter tuning. Several new
control strategies for the speed control design of BLDC motors have recently been
proposed. Conventional PID controller algorithm on the other hand is simple, stable,
easy to alter, and has a high level of reliability. Conventional speed control system is
utilized in conventional PID control. However, most industrial processes include
varying degrees of nonlinearity, parameter fluctuation, and mathematical model
uncertainty. Tuning PID control settings is challenging due to their lack of resilience; as
a result, achieving the ideal state under field conditions in actual production is tough.

The speed regulation system of a BLDC motor is given an adaptive-fuzzy PID control.
Under adaptive fuzzy PID control, the parameter can be modified in real time. An
increase in the number of inputs and membership functions was required to improve the
performance of the adaptive-fuzzy PID controller system, while an independent set of
rules was developed for each Kp, Ki, and Kd. The controller can adapt to any change in
parameter by employing a unique set of rules. In the Fuzzy PID controller, however,
only a single set of rules is produced for Kp, Ki, and Kd
1
1.2 OBJECTIVE:
The objective of this project is to control the speed of the BLDC motor by using different
controllers. The performance of Conventional PID controllers, Fuzzy PID controllers,
and Adaptive Fuzzy PID controllers are discussed in this work. Using a standard PID
controller to set the parameters and achieve satisfactory control characteristics is tough.
Because the Adaptive Fuzzy has the capacity to satisfy control qualities while also being
simple to compute, it is a good choice. The experimental results show that an Adaptive
Fuzzy PID controller outperforms both a Fuzzy PID controller and a conventional PID
controller in terms of control performance.

2
 CHAPTER 2
LITERATURE SURVEY
R.Kandiban and R.Arulmozhiyal “Design of Adaptive Fuzzy PID Controller for
Speed control of BLDC Motor” in International Journal of Soft Computing and
Engineering (IJSCE), March 2012.
In this paper they implemented and compared the performance of Conventional PID
controller, Fuzzy PID controller and Adaptive Fuzzy PID controller to control the
speed of BLDC motors. It is difficult to tune the parameters and get satisfied control
characteristics by using normal conventional PID controller. As the Adaptive Fuzzy
has the ability to satisfied control characteristics and it is easy for computing. The
experimental results verify that a Adaptive Fuzzy PID controller has better control
performance than the both Fuzzy PID controller and conventional PID controller.
The modeling, control and simulation of the BLDC motor have been done using the
software package MATLAB/SIMULINK.

Kanaiya Bhatt, Sandip Dhoranwala and Ajay Bosamiya “Simulation of

Brushless DC Motor Speed Control in Matlab” in International Journal of
Advance Engineering and Research Development, December 2017.

The main objective of this paper is to control the speed of BLDC motor and displays
its speed. The speed control of the BLDC motors is very essential. This proposed
system provides a very precise and effective speed control system. The user can
increase or decrease the speed as per the requirement and the motor will run at that
exact speed. In this paper also the Simulink, modeling and controlling of BLDC
motor using MATLAB/SIMULINK.

3
 CHAPTER 3

DESIGNING &MODELLING OF BLDC MOTOR

3.1 BLOCK DIAGRAM

The complete block design of three phase BLDC motor speed control is shown in Fig3.1.
The BLDC motor is controlled by two control loops. The inverter gates signals are
synchronized with the electromotive forces by the inner loop. The DC bus voltage is
varied in the outer loop to adjust the motor's speed. Three phase power converters with
six power transistors energize two BLDC motor phases at the same time make up the
driving circuitry.

Fig3.1 Block diagram of Speed Control of BLDC Motor

Three Hall sensors located on the stator detect the rotor position, which dictates the
MOSFET transistors and switching sequence. Decoder block generates signal vector
of back EMF using Hall sensor information and the sign of reference current
(generated by Reference current generator).

Unlike a brushed DC motor, the commutation of a BLDC motor is controlled

electronically. To rotate the BLDC motor, the stator windings should be energized
in a sequence. It is important to know the rotor position in order to understand which
winding will be energized following the energizing sequence.

4
 Rotor position is sensed using Hall effect sensors embedded into the stator. Most
BLDC motors have three Hall sensors embedded into the stator on the non-drying
end of the motor. Whenever the rotor magnetic poles pass near the Hall sensors, they
give a high or low signal, indicating the N or S pole is passing near the sensors.
Based on the combination of these three Hall sensor signals, the exact sequence of
commutation can be determined.

For the estimation of the rotor position, the motor is equipped with three hall
sensors. These hall sensors are placed every 120°. With these sensors, 6 different
commutations are possible. Phase commutation depends on hall sensor values.
Power supply to the coils changes when hall sensor values change. With right
synchronized commutations, the torque remains nearly constant and high

Fig3.2 BLDC Motor Hall sensor signal graph

3.2 SIMULATION MODEL DIAGRAM OF SPEED CONTROL OF

BLDC MOTOR
With the help of the designed circuit parameters, the MATLAB simulation is
done and results are presented here. Speeds are set at 300 rpm and load torque
disturbance are applied at time t= 0.1 sec. The speed regulations are obtained
at set speed and the simulation results are shown. The wave form of the back
emf are shown in fig3.3. it can be seen the phasor voltages are displaced by 120
deg. The stator current waveforms are shown in fig. They are quasi sinusoidal
in shape and displaced by 120 deg.

5
Fig3.3 Simulation Model diagram

6
 CHAPTER 4
CONTROLLER CIRCUITS
4.1 PID CONTROLLER:

Fig4.1 Simulation Model of PID Controller

PID Controller Consider the characteristics parameters – proportional (P),

integral (I), and derivative (D) controls, as applied to the diagram below in
Fig.4.1, the system. A PID controller is simple three-term controller. The letter
P, I and D stand for P- Proportional, I- Integral, D-Derivative. The transfer
function of the most basic form of PID controller is

𝐾𝐼
𝐶 (𝑆) = 𝐾𝑃 + + 𝐾𝐷 𝑆………..(1)
𝑆

𝐾𝐼
𝐶 (𝑆) = 𝐾𝐷 𝑆 2 + 𝐾𝑃 𝑆 + 𝑆
………(2)

Where KP = Proportional gain, KI = Integral gain and KD = Derivative gain.

The control u from the controller to the plant is equal to the Proportional gain
(KP) times the magnitude of the error plus the Integral gain (Ki) times the
integral of the error plus the Derivative gain (Kd) times the derivative of the
error.

7
Due to its simplicity and excellent if not optimal performance in many
applications, PID controllers are used in more than 95% of closed-loop industrial
processes We are most interested in four major characteristics of the closed-loop
step response. They are
a. Rise Time: the time it takes for the plant output Y to rise beyond 90% of the
desired level for the first time.
b. Overshoot: how much the peak level is higher than the steady state,
normalized against the steady state.
c. Settling Time: the time it takes for the system to converge to its steady state.
d. Steady-state Error: the difference between the steady-state output and the
desired output.

4.2 FUZZY PID CONTROLLER:

Fuzzy PID controller used in this paper is based on two inputs and one output.
The overall structure of used controller is shown in Fig. 4.2.

Fig4.2 Simulation Model of Fuzzy PID Controller

In Fuzzy PID controller only one output which are connected to Kp, Ki and Kd.
Real interval of variables is obtained by using scaling factors which are Se, Sde
and Su. The fuzzy control rule is in the form of: IF e=Ei and ce=dEj THAN
UPD=UPD(i,j).

8
FLC has two inputs and one output. These are error (e), error change (de) and
control signal, respectively. A linguistic variable which implies inputs and output
have been classified as: NB, NM, NS, Z, PS, PM, PB. Inputs and output are all
normalized in the interval of [-5,5] as shown in Fig4.4.
Controller Input:
Error(e):

Fig4.3 Fuzzy PID Controller Error(e)

The range of the error is set to -5 to 5. The error part is differentiated into seven
major parts that is given below in the fuzzy lookup table.

Change in Error(ce):

Fig4.4 Fuzzy PID controller Change in Error(ce)

9
Controller Output:

Fig4.5 Membership Function of Kp Output

CE NB NM NS Z PS PM PB
E
NB NB NB NB NB NM NS Z
NM NB NB NB NM NS Z PS
NS NB NB NM NS Z PS PM
Z NB NM NS Z PS PM PB
PS NM NS Z PS PM PB PB
PM NS Z PS PM PB PB PB
PB Z PS PM PB PB PB PB

Tab 4.1 Fuzzy Lookup Table

Control action:

The following is the control action taken by the controller in the simulation.
There are two types of viewer in the matlab.

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Surface viewer:

Fig4.6 Surface Viewer for Kp

Rule Viewer:

Fig4.7 Rule Viewer for Kp

11
The linguistic labels used to describe the Fuzzy sets were „Negative Big‟
(NB), „Negative Medium‟ (NM), „Negative Small‟ (NS), „Zero‟ (Z),
„Positive Small‟ (PS), „Positive Medium‟ (PM), „Positive Big‟ (PB). It
is possible to assign the set of decision rules as shown in Table 4.1. The
fuzzy rules are extracted from fundamental knowledge and human
experience about the process. These rules contain the input/the output
relationships that define the control strategy. Each control input has seven
fuzzy sets so that there are at most 49 fuzzy rules.

4.3 ADAPTIVE FUZZY PID CONTROLLER:

Adaptive Fuzzy PID controller used in this paper is based on two input
and three output. The overall structure of used controller is shown in Fig.
5. In Fuzzy PID controller have three outputs which are Kp, Ki and Kd.

Fig4.8 Simulation Model of Adaptive Fuzzy PID Controller

Error speed (E) and Change in error speed (CE) as fuzzy control input
and fuzzy outputs are ΔKp, ΔKi, Δkd.

ΔKp = Kp.ΔKp1 (4)

ΔKi = Ki.ΔKp1 (5)

ΔKd = Kd.ΔKp1 (6)

A linguistic variable which implies inputs and output have been
classified as: NB, NM, NS, Z, PS, PM, PB. Inputs normalized in the
interval of [-2,2] and output ΔKp interval [-3,3], ΔKp interval [-1,1] and
ΔKp interval [-5,5]. The output membership of ΔKp fuzzy set is shown
fig4.9.

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Controller Output:

Fig4.9 Membership Function of Kd Output

CE NB NM NS Z PS PM PB
E
NB PB PB PM PM PS PS Z
NM PB PB PM PS PS Z NS
NS PB PM PM PS Z NS NS
Z PM PM PS Z NS NM NM
PS PS PS Z NS NS NM NM
PM PS Z NS NM NM NM NB
PB Z NS NS NM NM NB NB

Tab 4.2 Fuzzy Lookup Table

Control action:

The following is the control action taken by the controller in the simulation.
There are two types of viewer in the matlab.

13
 Surface Viewer:

Fig4.10 Surface Viewer for Kp

Rule Viewer:

Fig4.11 Rule Viewer

This paper uses a mamdani fuzzy interference reasoning algorithm and ambiguity
resolution uses center of gravity method. Then, the output of ΔKp, ΔKi, Δkd can
be obtained by ambiguity resolution.

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 CHAPTER 5
SIMULATION RESULTS & GRAPHS

5.1 SIMULATION RESULTS:

Fig. 7 as shown performance of the Adaptive Fuzzy PID controller, Fuzzy PID controller
and Conventional PID Controller of BLDC Motor on Reference speed of 300rpm with
no load condition of speed. The results show that conventional PID controller, fuzzy PID
controller and fuzzy PID controller reach settling time are , 0.10 sec respectively.

Fig5.1 PID Control Reference speed of 300 rpm with no load Speed

Fig5.2 Fuzzy PID Control Reference speed of 300 rpm with no load Speed

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Fig5.3Adaptive Fuzzy PID Control Reference speed of 300 rpm with no load
Speed

Fig5.4 Reference speed of 300 rpm with no load Speed

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5.2 PERFORMANCE RESULTS:
PID CONTROLLER:

Speed PID Controller

tr %Mp ts

300 noload 0.0202 16.53 0.35

300load 0.0206 16.60 0.35
200 – 300
0.0201 16.40 0.35
noload
200 – 300
0.0205 16.60 0.35
withload
300 - 200
0.0202 16.53 0.35
noload
300 - 200
0.0206 16.60 0.35
withload
300 load
0.0202 16.53 0.35
impact

Tab 5.1Performance Result of PID Controller

FUZZY PID CONTROOLER:

Speed Fuzzy PID Controller

tr %Mp ts

300 noload 0.0061 13.13 0.10

300load 0.0390 1.37 0.25
200 – 300
0.0042 55.10 0.15
noload
200 – 300
0.0391 0.86 0.20
withload
300 - 200
0.0061 13.13 0.15
noload
300 - 200
0.039 1.37 0.25
withload
300 load
0.0061 13.13 0.15
impact

Tab5.2 Performance Result of Fuzzy PID Controller

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ADAPTIVE FUZZY PID CONTROLLER:

Adaptive Fuzzy PID

Speed
Controller

tr %Mp ts
300 noload --- --- 0.10

300load --- --- 0.10

200 – 300
--- --- 0.57
noload

200 – 300
--- --- 0.59
withload

300 – 200
--- --- 0.58
noload

300 – 200
--- --- 0.59
load

300 load
--- --- 0.l0
impact

Tab5.3 Performance Result of Adaptive Fuzzy PID Controller

From performance comparison a Fuzzy PID controller has better control

performance than the conventional PID controller.

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 CHAPTER 6

CONCLUSION
This paper presents simulation results of conventional PID controller, Fuzzy PID
controller and Adaptive Fuzzy PID controller of three phase BLDC Motor. In
conventional PID control it is not necessary to change the control parameters as the
reference speed changes. With results obtained from simulation, it is clear that for the
same operation condition the BLDC speed control using Adaptive Fuzzy PID controller
technique had better performance than the conventional PID controller and Fuzzy PID
controller, mainly when the motor was working at lower and higher speeds. In addition,
the motor speed to be constant when the load varies.

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 REFERENCES
[1] R.Kandiban and R.Arulmozhiyal “Design of Adaptive Fuzzy PID Controller for
Speed control of BLDC Motor” in International Journal of Soft Computing and
Engineering (IJSCE) ISSN: 2231-2307, Volume-2, Issue-1, March 2012.
[2] Kanaiya Bhatt, Sandip Dhoranwala and Ajay Bosamiya “Simulation of
Brushless DC Motor Speed Control in Matlab” in International Journal of
Advance Engineering and Research Development, December 2017.
[3] Kapil Ghuge and Ashok kumar Jhala “Design of Fuzzy PID controller for BLDC
motor” in International Journal of Innovative Research in Science and
Engineering, march 2016.
[4] Devendra Somwanshi and Mahesh Bundele “Comparison of Fuzzy PID and PID
controller for Speed Control of DC motor using LabVIEW” in International
Conference on pervasive Computing Advances and Applications, November
2019.
[5] Shabir ali and Dr. Vijay kumar “Adaptive Fuzzy PID for the Controller of Ball
and the Beam system” in International Journal of Engineering Research &
Technology Development, June 2013.
[6] S.Vivek and K.Kishore “Stability Analysis of Brushless DC Motor Using
Proportional & Integral and Adaptive Fuzzy Logic Controllers” in International
Journal of Innovative Research in Control Engineering, January 2014.

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