Fuzzy logic control of brushless dc motor

Implementation of Control Strategies and Parameter
Compensation for Brushless DC Motor (BLDC) Drive.
A PROJECT REPORT
Submitted by
TANAY CHANDA
SOURAV CHOWDHURY
RAVI PRAKASH
SAIKAT SARKAR
In partial fulfillment for the award of the degree
Of
BACHELOR OF TECHNOLOGY
IN
ELECTRICAL ENGINEERING
SILIGURI INSTITUTE OF TECHNOLOGY
SILIGURI -734009
MAULANA ABUL KALAM AZAD UNIVERSITY OF
TECHNOLOGY
(FORMARLY KNOWN AS WEST BENGAL UNIVERSITY
OF TECHNOLOGY )
KOLKATA – 700064
JUNE 2016

ACKNOWLEDGEMENT
We will be pleased to acknowledge our indebtedness to all who have helped us to
make this report. Apart from the efforts of us ,the success of any project depends
on largely on the encouragement and guidelines of many others .We would like to
express our gratitude to the people who have been instrumental in the successful
completion of this project report.
For helping us to gather information on concerned topic. The guidance and support
received from all the members who contributed and who are contributing to this
report, was vital for the success of the project . We are grateful for their constant
support and help. It has been great pleasure for us to work and learn together.
(TANAY CHANDA)
Roll-11901612117
(SOURAV
CHOWDHURY)
Roll-11901612100
(RAVI PRAKASH)
Roll-11901612076
(SAIKAT SARKAR)
Roll-11901612081

DECLARATION
I declare that this written submission represents my ideas in my own words and
where others' ideas or words have been included, I have adequately cited and
referenced the original sources. I also declare that I have adhered to all principles
of academic honesty and integrity and have not misrepresented or fabricated or
falsified any idea/data/fact/source in my submission. I understand that any
violation of the above will be cause for disciplinary action by the Institute and can
also evoke penal action from the sources which have thus not been properly cited
or from whom proper permission has not been taken when needed.
(TANAY CHANDA)
Roll-11901612117
(SOURAV
CHOWDHURY)
Roll-11901612100
(RAVI PRAKASH)
Roll-11901612076
(SAIKAT SARKAR)
Roll-11901612081

SILIGURI INSTITUTE OF TECHNOLOGY
SILIGURI -734009
MAULANA ABUL KALAM AZAD UNIVERSITY OF
TECHNOLOGY
(FORMARLY KNOWN AS WEST BENGAL UNIVERSITY
OF TECHNOLOGY )
KOLKATA – 700064
BONAFIDE CERTIFICATE
Certified that this project report “Implementation of Control Strategies and
Parameter Compensation for Brushless DC Motor (BLDC) Drive” is the
bonafide work of “TANAY CHANDA, SOURAV CHOWDHURY, RAVI
PRAKASH, SAIKAT SARKAR” who carried out the project work under my
supervision.
_______________________
(SIGNATURE)
NAME-JAYANTA BHUSAN BASU
HEAD OF THE DEPARTMENT OF
ELECTRICAL ENGINEERING
___________________________
(SIGNATURE)
NAME- Mr. Chiranjit Sain
DESIGNATION-ASST.PROFESSOR
DEPARTMENT-ELECTRICAL
ENGINEERING

ABSTRACT
This paper presents a control scheme of a Fuzzy Logic for the brushless direct current (BLDC)
motor drives. The BLDC motor has some advantages compare to others type of motors.
However, the nonlinearity of this motor drive characteristics cause it is difficult to handle using
conventional proportional-integral-differential (PID) controller. In order to overcome this main
problem, Fuzzy Logic controller with a Gaussian membership function is developed. The
mathematical model of BLDC motor is derived. The controller is designed to tracks variations of
speed references and stabilizes the output speed during load variations. The effectiveness of the
proposed method is verified by develop simulation model in Matlab Simulink software. The
simulation results show that the proposed Fuzzy Logic controller (FLC) produce significant
improvement control performance compare to the PID controller for both condition controlling
speed reference variations and load disturbance variations.

TABLE OF CONTENTS
TITLE i
ACKNOWLEDGEMENT ii
DECLARATION iii
BONAFIDE iv
ABSTRACT v
CHAPTERS vii
LIST OF TABLES viii
LIST OF FIGURES ix
LIST OF SYMBOLS AND ABBREVIATIONS x
LIST OF REFERENCES xi
LIST OF APPENDICES xii

CHAPTER 1 INTRODUCTION 1
1.1 Project Overview
1.2 Problem Statements
1.3 Project Objectives
1.4 Project Scopes
CHAPTER 2 LITERATURE REVIEW
2.1 Introduction
2.2 Previous Case Study
2.3 Brushless Direct Current Motor
2.3.1 Construction and Operating Principle
2.3.1.1 Stator
2.3.1.2 Rotor
2.3.1.3 Hall Sensor
2.3.1.4 Theory of Operation
2.3.2 Torque/Speed Characteristics
2.3.3 Commutation Sequence
2.3.4 Back EMF
2.4 Fuzzy Logic Controller System
2.4.1 Fuzzification
2.4.2 Rule Base
2.4.3 Inference Engine
2.4.4 Defuzzification

CHAPTER 3 METHODOLOGY 19
3.1 Introduction
3.2 System Structure
3.2.1 Structure of BLDC motor
3.2.2 Modeling of BLDC motor
3.2.3 Modeling of a Trapezoidal Back EMF of BLDC motor
3.3 Fuzzy Logic Controller Design
3.3.1 Membership function of „case design‟for speed error,change in speed
error
3.3.2 Defuzzifier
CHAPTER 4 RESULTS AND SIMULATIONS
CHAPTER 5 CONCLUSIONS AND FUTURE WORK
5.1 Conclusions
5.2 Future Works
REFERENCES
APPENDICES

LIST OF TABLES
3.1 Reference currents of BLDC motor
3.2 Rule Base
4.1 Parameter of BLDC motor

LIST OF SYMBOL AND ABBREVIATIONS
B - Friction Coefficient
BLDC - Brushless Direct Current
DC - Direct Current
DSP - Digital Signal Processing
ea, eb, ec - The Phase Back-EMF
e ab, ebc, eca - Line-to-line Back-EMF
e ia, eib, eic - Error Phase Current
EMF - Electromagnetic Field
FLC - Fuzzy Logic Controller
fabc(θr) - Function of rotor position
i a, ib, ic - Stator Phase Current
ia ref, ib ref, icref - Reference Phase Current
I max - Reference Current
J - Moment of Inertia
jth - Numbers of Neuron
K e - Back-EMF Constant
K t - Torque Constant
L - Self-inductance
M - Mutual Inductance
N - North
PID - Proportional Integral Derivative
R - Phase Resistance

RPM - Round per Minute
S - South
T a, Tb, Tc - Phase Electromagnetic Torque
T e - Electromagnetic Torque
T L - Load Torque
TP - Peak Torque
TR - Rated Torque
Va, Vb, Vc - Phase Voltage
V dc - DC Supply Voltage
Vao, Vbo, Vco - Reference to Midpoint of DC Supply Voltage
ω m - Rotor Speed in mechanical
ω r - Rotor Speed in electrical
Y - Star connection
- Delta connection
θ r - Rotor Position

LIST OF FIGURES
2.1 The stator of BLDC motor
2.2 Rotor magnet cross section
2.3 BLDC motor cross section
2.4 Torque speed characteristics
2.5 The hall sensor and trapezoidal back EMF waveforms of BLDC
motor drive
2.6 Triangular membership function shape
2.7 Trapezoidal membership function shape
2.8 Gaussian membership function shape
2.9 Generalized bell membership function shape
3.1 The block diagram of speed control using Gaussian fuzzy logic controller for BLDC motor
drive system.
3.2 Disassembled view of BLDC motor
3.3 The system for controlling the voltage and speed with the
associated current and voltage waveforms superimposed
on the circuits.
3.4 Trapezoidal back-EMF and phase current waveforms of
BLDC motor drive
3.5 Simulink diagram of generating back-EMF from rotor position
4.0 Defuzzification
5.0 Simulation result (a,b)

LIST OF APPENDICES
A. Gaussian Fuzzy Logic Programming
B. Reference frame conversion
C. Matlab code

CHAPTER 1
INTRODUCTION
1.1 Project Overview : Nowadays, Brushless Direct Current (BLDC) motors are one of the
motor types rapidly gaining popularity [1]. As the name implies, their only drawback is that
they need a commutator and brushes which are subject to wear and require maintenance.
When the functions of commutator and brushes were implemented by solid-state switches,
maintenance-free motors were realized.
BLDC motors have many advantages over brushed DC motors and induction motors which is
better speed versus torque characteristics, high dynamic response, high efficiency, long operating
life, noiseless operation and 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 [1].
The applications BLDC motor are widely used in many industries as growth as the rapidly
developments in power electronic technology, manufacturing technology for high performance
magnetic materials and modern control theory for motor drives [2]. Modern intelligent motion
applications demand accurate speed and position control due to the favorable electrical and
mechanical properties of BLDC motor. Many machine and control method have been developed
to improve the performance of BLDC motor drives [3].
Based on previous studies in linear system model, controller parameters of proportional integral
derivative (PID) controller are easy to determine and resulting good control performances.
However, for nonlinear system model application such as BLDC motor drive, control
performance of the PID controller becomes poor and difficult to determine the controller
parameters. So that, Fuzzy Logic Control (FLC) will be used in order to improve the control
performance.
In this project, a complete simulation model with FLC method for BLDC motor drive is
proposed using Matlab/Simulink.

1.2 Problem Statements:
Direct Current (DC) motor was chosen for the speed control
applications due to the control simplicity on the intrinsic decoupling between the flux and the
torque. As the name implies, there are physical limitations to speed and life time because of
brush wear. However, BLDC have been produced to overcome this problem. Since there are no
carbon brushes to wear out, a BLDC motor can provide significantly greater life being now only
limited by bearing wear. This advantage make BLDC motor becomes popular in the industry but
this motor is a non-linear system hence, need more complex speed controller than the DC motor.
By this reason, the Gaussian Fuzzy Logic controller will be developed to improve the
performance of variable speed for BLDC motor since the system of this motor is non-linear
system.
1.3 Project Objective:
The objectives of this project are:
A) To derive simulation model of BLDC motor using Matlab
Simulation.
B) To improve speed performance of BLDC motor such as reduce
overshoot; reduce rise time and steady state error by using Fuzzy Logic
controller.

1.4 Project Scopes :
The scopes of this project are to simulate BLDC motor using Matlab
Simulink software and develop the FLC that will be used to control the variable speed of the
BLDC motor. The scopes of proposed FLC is limited to Gaussian membership function. The
other membership function of FLC also will be develop to compare the effectiveness of the
proposed controller. The complexity of PI controller tuning and high response time is overcome
by using FLC, which the has less response time and high accuracy without any mathematical
calculations. The advantages of the proposed FLC drive are confirmed by the simulation results.

CHAPTER 2
LITERATURE REVIEW
2.1 Introduction
In order to design and construct Gaussian Fuzzy Logic controller for BLDC motor speed,
research in FLC need to be performed. This chapter would discuss the previous study of FLC
that has been developing through the year.
2.2 Previous Case Study
Many approaches for designing controller based on the brushless DC motor has been proposed
on the previous papers. The fuzzy speed controller was chosen by the designer due to their
property. Fuzzy logic provides a useful methodology to create a practical solution for controlling
complex system.
Siong T. C. et al. (2011) are proposed fuzzy logic controller for BLDC permanent magnet drives.
The results shows that the fuzzy logic controller system provided a good dynamic performances
in both simulation and experimental.
A novel digital control technique for brushless DC motor drives is to introduce a novel concept
for digital control of trapezoidal BLDC motor. Rodriguez et al. (2007) found that the proposed
digital controller is well suited for applications where speed ripple is not of significant
importance. Oyedepo J. A. et al. (2011) have proposed Implementation of a fuzzy logic speed
controller for a permanent magnet BLDC motor drive system. In this paper, the characteristics of
permanent brushless DC motor, its steady state operation and its various torque-speeds/torque-
current characteristics are studied. The speed of a BLDC Motor has been successfully controlled
by using fuzzy logic controller technique. A comprehensive analysis of BLDC drive system has
been performed by using fuzzy logic controller.
Chen W. et al. (2006) have presented sensorless control of BLDC motor based on fuzzy logic.
The result shows that fuzzy logic controller can reduce the torque ripple. There is also has no
neutral voltage, phase shifted or silent phase are required in this method which ensure its
accuracy and stability.
Based on the previous case study, the researchers make a great effort to propose the good
controller to control the speed of BLDC motor. Although the method is differ from each other, it
is still can be conclude that fuzzy logic controller is the better controller compared to other
conventional controller. Therefore, in this paper will use the fuzzy logic control as the controller
of BLDC motor speed.

2.3 Brushless Direct Current Motor
The Brushless Direct Current (BLDC) motor is the ideal choice for applications that require high
reliability, high efficiency, and high power-to-volume ratio. Generally speaking, a BLDC motor
is considered to be a high performance motor that is capable of providing large amounts of
torque over a vast speed range. BLDC motors are a derivative of the most commonly used DC
motor, the brushed DC motor, and they share the same torque and speed performance curve
characteristics.
The major difference between the two is the use of brushes. BLDC motors do not have brushes
and must be electronically commutated. Commutation is the act of changing the motor phase
currents at the appropriate times to produce rotational torque. In a brush DC motor, the motor
assembly contains a physical commutator which is moved by means of actual brushes in order to
move the rotor.

2.3.1 Construction and Operating Principle
BLDC motors are a type of synchronous motor. This means the magnetic field generated by the
stator and rotor rotate at the same frequency. BLDC motor does not operate directly off a DC
voltage source. It consists of a rotor with permanent magnets, a stator with windings and
commutation that is performed electronically. Normally three Hall sensors are used to detect the
rotor position and commutation is performed based on Hall sensor inputs. There are two types of
stator windings variants which are trapezoidal and sinusoidal motors.
2.3.1.1 Stator
The stator of a BLDC motor consists of stacked steel laminations with windings placed in the
slots that are axially cut along the inner periphery as in Figure 2.1. Windings in a stator can be
arranged in two patterns which is a star pattern (Y) or delta pattern (Δ). Most BLDC motors have
three stator windings connected in star connection. The winding formed when each of these
winding are constructed with numerous coils interconnected together. The stator windings
construct into two types which is trapezoidal and sinusoidal motors.

2.3.1.2 Rotor
The rotor of a typical BLDC motor is made out of permanent magnets. Depending upon the
application requirements, the number of poles in the rotor may vary. Increasing the number of
poles does give better torque but at the cost of reducing the maximum possible speed. Another
rotor parameter that impacts the maximum torque is the material used for the construction of
permanent magnet; the higher the flux density of the material, the higher the torque. Figure 2.2
shows cross sections of different arrangements of magnets in a rotor.

2.3.1.3 Hall Sensor
Hall sensors work on the hall-effect principle that when a current-carrying conductor is exposed
to the magnetic field, charge carriers experience a force based on the voltage developed across
the two sides of the conductor. If the direction of the magnetic field is reversed, the voltage
developed will reverse as well. For Hall-effect sensors used in BLDC motors, whenever rotor
magnetic poles North (N) or South (S) pass near the hall sensor, they generate a HIGH or LOW
level signal, which can be used to determine the position of the shaft. Most BLDC motor consists
of three Hall Effect sensors and the combination of this sensor will produce the exact sequence
of commutation. Figure 2.3 represents a cross section of a BLDC motor with rotor that has
alternate North and South permanent magnets. There are two output versions by referring the
physical position of the Hall sensors either at 60˚ or 120˚ phase shift to each other.

2.3.1.4 Theory of Operation
Three windings on each commutation have different function. First windings will energized to
positive power (current inflow into the winding), the second winding for negative (current out
flow the winding) and the last winding is in a non-energized condition. The interaction between
the permanent magnet and magnetic field generated by the stator coils will produce the torque.
Basically, the peak torque occurs when these two fields are at 90˚ to each other and falls off as
the field move together. In order to keep the motor running, the magnetic field produced by the
winding should shift position as the rotor moves to catch up with the stator field.
2.3.2 Torque/Speed Characteristics
Based on the Figure 2.4, the BLDC motor can define using two torque parameters, a peak torque
(TP) and rated torque (TR). The motor can be loaded up to the rated torque during continuous
operations. The torque remains constant in a BLDC motor for speed range up to the rated speed.
Meanwhile it capable to run up to the maximum speed which is 150% of the rated speed but the
torque starts dropping during this situation.

2.3.3 Commutation Sequence
Every 60 electrical degrees of rotation, one of the Hall sensors changes the state. Given this, it
takes six steps to complete an electrical cycle. In synchronous, with every 60 electrical degrees,
the phase current switching should be updated. However, one electrical cycle may not
correspond to a complete mechanical revolution of the rotor. The number of electrical cycles to
be repeated to complete a mechanical rotation is determined by the rotor pole pairs. For each
rotor pole pairs, one electrical cycle is completed. So, the number of electrical cycles equals the
rotor pole pairs. Figure 2.5 shows the Hall sensors signals with respect to back EMF and the
phase current.

2.3.4 Back EMF
According to Faradays law of electromagnetic induction, an EMF is induced or produced in a
conductor and if a closed path is provided, the current will flows through it when a current
carrying conductor is placed in a magnetic field. When the same thing happens in a brushless DC
motor (BLDC) as a result of motor torque, the EMF produced is known as back EMF. It is so
called because this EMF that is induced in the motor opposes the EMF of the generator.

This back EMF that is induced in the brushless DC motor (BLDC) is directly proportional to the
speed of the armature (rotor) and field strength of the motor, which means that if the speed of the
motor or field strength is increased, the back EMF will be increased and vice versa. When the
DC motor is first started, there is no back EMF induced and there is maximum current flow from
the DC generator or distribution lines to the motor armature and as a result the motor toque will
be maximum. During normal operation (rated speed) of DC motor, the back EMF induced will
be maximum which reduces the motor armature current to its minimum level and as a result the
motor torque is also reduced. When the load on the motor is increased, the motor speed (RPM) is
decreased and this reduces the back EMF. This decrease in back EMF automatically increases
the motor torque thereby bringing the motor to its rated speed.
2.4 Fuzzy Logic Controller System
Fuzzy logic and fuzzy control theories added a new dimension to control systems engineering in
the early 1970s. From its beginnings as mostly heuristic, somewhat ad-hoc, more recent and
rigorous approaches to fuzzy control theory have helped make it integral part of modem control
theory and produced many exciting results. Fuzzy logic is a technique to embody human like
thinking which is much less rigid than the calculations computer generally perform into a control
system. Fuzzy controller can be designed to emulate human deductive thinking, that is, the
process people use to infer conclusion from what they know. Meanwhile, conventional controller
requires formal modeling of the physical reality of any plant.
Apart from that, fuzzy control incorporates ambiguous human logic into computer programs. It
suit control problem that cannot be easily represented by mathematical model. Design of such
controller leads to faster development and implementation cycles due to its unconventional
approach.
There are four important elements in the fuzzy logic controller system structure which are
fuzzifier, rule base, inference engine and defuzzifier. Firstly, a crisp set of input data are gathered
and converted to a fuzzy set using fuzzy linguistic variables, fuzzy linguistic terms and
membership functions. This step also known as fuzzification. Afterwards, an inference is made
base on a set of rules. Lastlty, the resulting fuzzy output is mapped to a crisp output using the
membership functions, in the defuzzification step.

2.4.1 Fuzzification
Fuzzification is a process of making a crisp quantity fuzzy. Before this process is taken in action,
the definition of the linguistic variables and terms is needed. Linguistic variables are the input or
output variables of the system whose values are words or sentences from a natural language,
instead of numerical values. A linguistic variable is generally decomposed into asset of linguistic
terms.
There are different forms or shapes of membership functions in Fuzzy Logic such as triangular,
Gaussian, trapezoidal and generalized bell. The most common type of membership function used
by many applications is triangular. The type of the membership function can be context
dependent and it is generally chosen arbitrarily according to the user experience. Figure 2.6 to
Figure 2.9 shows the different types of membership function shape.

Fuzzy logic control of brushless dc motor

2.4.2 Rule base
Fuzzy logic‟s linguistic terms are most often expressed in the form of logical implications, such
as If-Then rules. These rules define a range of values known as fuzzy membership functions. A
rule base (a set of If-Then rules), which contains a fuzzy logic quantification of the expert‟s
linguistic description of how to achieve good control. Once the rules have been established, a
fuzzy logic system can be viewed as a mapping from inputs to outputs.
2.4.3 Inference engine
In general, inference is a process of obtaining new knowledge through existing knowledge. In the
context of fuzzy logic control system, it can be defined as a process to obtain the final result of
combination of the result of each rule in fuzzy value.
There are many methods to perform fuzzy inference method and the most common two of them
are Mamdani and Takagi-Sugeno-Kang method. Mamdani method was proposed by Ebrahim
Mamdani as an attempt to control a steam engine and boiler in 1975. It is based on Lofti Zadeh‟s
1973 paper on fuzzy algorithms for complex system and decision processes. This method uses
the minimum operation Rc as a fuzzy implication and the max-min operator for the composition.
Suppose a rule base is given in the following form;
IF input x = A AND input y = B THEN output z = C (2.5)
After the aggregation process, there is a fuzzy set for each output variable that needs
defuzzification. It is possible and in many cases much more efficient, to use a single spike as the
output membership functions rather than a distributed fuzzy set. This is sometimes known as a
singleton output membership function. It enhances the efficiency of defuzzification process
because it greatly simplifies the computation required by the more general Mamdani method,
which finds the centroid of two dimensional function.
Meanwhile, Takagi-Sugeno-Kang method was introduced in 1985 and it is similar to the
Mamdani method in many aspects. The first two parts of fuzzy inference process which are

fuzzifying the inputs and applying the fuzzy operator are exactly the same. But, the main difference
is that the Takagi-Sugeno-Kang output membership function is either linear or constant. A typical
rule in Takagi-Sugeno-Kang fuzzy model has the form as follows;
IF input 1 = x AND input 2 = y THEN output z = ax + by+ c (2.6)
2.4.4 Defuzzification
After the inference step, the overall result is a fuzzy value. This result should be defuzzified to
obtain a final crisp output. This is the purpose of the defuzzification component of a fuzzy logic
controller system. Defuzzification is performed according to the membership function of the
output variable.
There are many different methods for defuzzification such as Centroid of Gravity (COG), Mean
of Maximum (MOM), Weighted Average, Bisector of Area (BOA), First of Maxima and Last of
Maxima. There is no systematic procedure for choosing a good defuzzification strategy, but the
selection of defuzzification procedure is depends on the properties of the application.
Centroid of Gravity (COG) is the most frequent used and the most prevalent and physically
appealing of all defuzzification methods. The basic equation of Centroid of Gravity (COG) as
below;
Where uo is control output obtained by using Centroid of Gravity (COG)
defuzzification method.

CHAPTER 3
METHODOLOGY
3.1 Introduction
This chapter will divide into three phases. The first phase is understands the BLDC motor drive.
The second phase is implementing the basic concept of fuzzy logic controller. The last phase is
design and constructs the fuzzy logic controller for BLDC motor speed.
The proposed general block diagram for speed control of BLDC motor drive system using
Gaussian fuzzy logic controller is shown in Figure 3.1.

3.2 System Structure
3.2.1 Structure of BLDC Motor
The speed and torque characteristics of Brushless DC (BLDC) motors are very similar to a shunt
wound "brushed" (field energized) DC motor with constant excitation. As with brushed motors the
rotating magnets passing the stator poles create a back EMF in the stator windings. When the motor
is fed with a three phase stepped waveform with positive and negative going pulses of 120 degrees
duration, the back EMF or flux wave will be trapezoidal in shape.
BLDC motors are not strictly DC motors. It is use a pulsed DC fed to the stator field windings to
create a rotating magnetic field and operate at synchronous speed. In figure 3.2 shown that, pole pair
A is first fed with a DC pulse which magnetizes pole A1 as a South Pole and A2 as a North Pole
drawing the magnet into its initial position. As the magnet passes the first magnetized pole pair, the
current to pole pair A is switched off and the next pole pair B is fed with a similar DC pulse as pole
pair A. The magnet will then rotate clockwise to align itself with pole pair B. By pulsing the stator
pole pairs in sequence the magnet will continue to rotate clockwise to keep itself aligned with the
energized pole pair.

A six step inverter is used to generate the three phase supply and the electronic commutation between
the three pairs of stator coils needed to provide the rotating field. Only two out of three pole pairs are
energized at any one time. The speed of rotation is controlled by the pulse frequency and the torque
by the pulse current.
The inverter current pulses are triggered in a closed loop system by a signal which represents the
instantaneous angular position of the rotor. The frequency of the power supply is thus controlled by
the motor speed. Rotor position can be determined by a Hall Effect device, embedded in the stator,
which provide an electrical signal representing the magnetic field strength. The amplitude of this
signal changes as the magnetic rotor poles pass over the sensor. Figure 3.3 shows the system for
controlling the voltage and speed with the associated current and voltage waveforms superimposed
on the circuits.

3.2.2 Modelling of a BLDC motor
The analysis of BLDC motor is based on the assumption for simplification and accuracy. The BLDC
motor is type of unsaturated. The stator resistances for all the winding are equal and the self and
mutual inductance are constant. Semiconductor devices of inverter are ideal and iron losses are
negligible. Meanwhile, the back-EMF wave-forms of all phases are equal. Based on the equivalent
circuit of BLDC motor and VSI system shown in Figure 3.3, the dynamic equations of BLDC motor
using the assumption can be derived as

3.3 Fuzzy Logic Controller Design
The structure of speed FLC is shown in Fig. 2. The controller observes
the pattern of the speed loop error signal and correspondingly updates the output q Di so that the
actua lspeed r w matches the command speed r ref w . There are two input signals to the fuzzy
controller, the error r ref r E=w −w and the change in error, CE, which is related to the derivative
dE / dt of error. In a discrete system, s dE / dt = DE / DT = CE /T , where CE = DE in the
sampling time s T . With constant s T , CE is proportional to dE / dt . The controller output in
vector-controlled drive is q ref Di current. This signal is summed or integrated to generate the
actual control current q ref i [9].

Membership function of „case design‟for speed error,change in speed error:

Defuzzifier : We used here centroid defuzzification method. Centroid defuzzification returns
the center of area under the curve. If you think of the area as a plate of equal density, the centroid
is the point along the x axis about which this shape would balance.
Fig 4

CHAPTER 4
RESULTS AND SIMULATION
.
Speed response (a) Fuzzy logic using 49 rules,(b) Fuzzy logic using 9 rules for the case of
TLm1=1Nm, TLm1=0.5Nm at t=0.9s Fig.5. shows the speed response during start-up at t=0s,
reverse operation at t=0.2s, then forward operation at t=0.5s for Fuzzy logic 49 rules and 9 rules
respectively. Both cases are applied torque load changes at t=0.9s about 1Nm for motor “1” and
0.5Nm for motor “2”. For the case of low load, the motors are not too affected by the changes.

Step Changes of speed using FLC

CONCLUSION
These Fuzzy Logic controllers are used successfully in speed Control system for
BLDC. The design of Fuzzy logic controller and its performance shows that the
error is minimized. The no overshoot in the speed curve and the ripples in the
torque curve are maintained minimum. The complexity of PI controller tuning and
high response time is overcome by using FLC, which has less response time and
high accuracy without any mathematical calculations. The advantages of the
proposed FLC drive are confirmed by the simulation results.

FUTURE WORK
The classical PWM method is used to generate the requested motor voltages. To
improve the system performance in terms of torque ripple, power quality and better
DC voltage utilization, space vector modulation can be employed.
The speed is estimated by the measurement of the position. The speed estimation
can be improved by the use of Kalman filters.

REFERENSES
[1] Padmaraja Yedamale, “Brushless DC (BLDC) Motor Fundamentals”, in
Microchip Technology Inc. AN885 Datasheet, 2003, pp. 1.
[2] Raja Siti Nur Adiimah binti Raja Aris, “Simulation of a Variables Speed
Brushless DC Motor using Neural Network Controller,” Universiti Tun Hussein
Onn Malaysia, 2011.
[3] T.C Siong, B.Ismail, S.F.Siraj and M.F Mohammed, “Fuzzy Logic Controller
for BLDC Permanent Magnet Motor Drives,” in International Journal of Electrical
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APPENDICES
A) Gaussian Fuzzy Logic Programming:
gaussmf
Gaussian curve membership function
Syntax
y = gaussmf(x,[sig c])
Description
The symmetric Gaussian function depends on two parameters σ and c as given by
f
(
x;σ,c
)
=e
−(x−c)
2
2σ
2
The parameters for gaussmf represent the parameters σ and c listed in order in the vector [sig c].
B) Examples
Gaussian Membership Function
x = 0:0.1:10;
y = gaussmf(x,[2 5]);
plot(x,y)
xlabel('gaussmf, P=[2 5]')

Matlab Code:
%////////////////////////////////////////////////////////////////////
% 2 kW motor parameters
%
% Master thesis student David Vindel Muñoz.
% Electric Power Engineering Department
% Chalmers Tekniska Högskola
%
%
%////////////////////////////////////////////////////////////////////
clear all
% bldc parameters
R = 7.1; %Stator resistance
p = 3; %Pole pairs
J = 5.8e-4; %Inertia
B = 0.002; %Viscous coefficient
Wbase = 1000*pi/30; %Base speed
Wmax = 5000*pi/30; %Max. speed
Prated = 2000; %Rated power
Trated = 3; %Rated torque
% Controller parameters
Vdc = 400;
% Current PI parameters
Fs = 10e3; %Inverter's Swithcing frequency 10[kHz]
alpha_i = 2*pi*Fs/10; %Parameter used for Kp & Ki
Kpc_d = alpha_i*Ld; %Prop.constant of d-axis current reg.
Kic_d = alpha_i*Rs; %Int. constant of d-axis current reg.
Kpc_q = alpha_i*Lq; %Prop. constant of q-axis current reg.
Kic_q = alpha_i*Rs; %Int. constant of q-axis current reg.
% Speed parameters
alpha_w = alpha_i/10; %Parameter used for Kp & Ki
Kpw = alpha_w*J; %Prop. constant of speed reg.
Kiw = alpha_w*B; %Int. constant of speed reg.

Fuzzy logic control of brushless dc motor

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