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atatwww.sciencedirect.com
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Energy
EnergyProcedia 117
Procedia 00(2017)
(2017)1101–1108
000–000
www.elsevier.com/locate/procedia
1st International Conference on Power Engineering, Computing and CONtrol, PECCON-2017, 2-
1st International Conference on Power
4 March 2017, Engineering, Computing
VIT University, Chennai and CONtrol, PECCON-2017, 2-
Campus
4 March 2017, VIT University, Chennai Campus
Speed Control of Permanent Magnet Brushless DC Motor Using
Speed Control
HybridThe
Fuzzy of Permanent
15th International
Proportional Magnet
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a
temperature
Department function
of Electronics and Instrumentation for
UG Scholar,Department
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Department of Electronics
a long-term
Engineering,
of EIE,Hindusthan
and Instrumentation
Hindusthan Collegedistrict
Engineering,College
of Engineering heat
of Engineering
Hindusthan and Technology,
College of Engineering
demand
and Technology,
Coimbatore-32,
and Technology,
forecast
Coimbatore-32, Tamilnadu.
Tamilnadu. Tamilnadu.
Coimbatore-32,
b,c,d,e
UG Scholar,Department of EIE,Hindusthan College of Engineering and Technology, Coimbatore-32, Tamilnadu.
I. Andrića,b,c*, A. Pinaa, P. Ferrãoa, J. Fournierb., B. Lacarrièrec, O. Le Correc
Abstract
a
AbstractIN+ Center for Innovation, Technology and Policy Research - Instituto Superior Técnico, Av. Rovisco Pais 1, 1049-001 Lisbon, Portugal
b
Thec main core of this Veolia Recherche
work & Innovation,
is to investigate two291 Avenue digital
different Dreyfous Daniel, 78520
controllers Limay, France
(Conventional PID Controller and Hybrid
Fuzzy PID) Département
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two different
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controllers
Direct Alfred
Current Kastler, 44300
(Conventional
(PMBLDC) PIDNantes, France
Controller
Motor. The and Hybrid
application of
Fuzzy PID)control
intelligent on closed
(fuzzyloop control
logic) of Permanent
technique is attemptedMagnet
in a Brush Less Direct
Proportional Current
–Integral- (PMBLDC)
Derivative (PID)Motor. Thefor
controller application
tuning their of
intelligent
parameterscontrol (fuzzy logic)
automatically technique
in an online is attempted
process. In-orderintoaachieve
Proportional
desired–Integral- Derivative
speed, Hybrid (PID) controller
Fuzzy-PID provides thefor finest
tuningset their
of
parameters
solutions. The automatically
conventional in PID
an online process.
controller In-orderFuzzy-PID
and Hybrid to achievecontroller
desired speed, Hybrid Fuzzy-PID
performances are analyzedprovides
both in the finest
steady setand
state of
Abstract
solutions. The conventional
dynamic operating conditionPID withcontroller
various setandpoint
Hybrid Fuzzy-PID
speeds. The rise controller
time, dead performances aretime
time, settling analyzed both instate
and steady steady
errorstate
areand
the
dynamic
parameters operating condition
considered with variousThe
for comparison. set point
resultsspeeds.
proveThethat,rise
thetime, deadFuzzy-PID
Hybrid time, settling time andoffers
controller steadybetter
state error are the
performance
District heating networks are commonly addressed in the literature as one of the most effective solutions for decreasing the
parameters
(Improvement considered for Reduction
in rise time, comparison. The results
in settling time, prove that,sate
No steady theerror)
HybridoverFuzzy-PID controller
the conventional PIDoffers betterThe
controller. performance
simulation
greenhouse gas emissions from the building sector. These systems require high investments which are returned through the heat
(Improvement
makes use of LabVIEWin rise time, Reductiontool
Fuzzy–PID in settling
and it istime, No steadyinsate
implemented realerror)
time over the conventional
through NI-DAQ 6009 PID controller.
with PMBLDC The simulation
motor which
sales. Due to the changed climate conditions and building renovation policies, heat demand in the future could decrease,
makes
is rateduse of LabVIEW
at 36V, 4A, 4000Fuzzy–PID
RPM. tool and it is implemented in real time through NI-DAQ 6009 with PMBLDC motor which
prolonging the investment return period.
is rated at 36V, 4A, 4000 RPM.
The main scope of this paper is to assess the feasibility of using the heat demand – outdoor temperature function for heat demand
© 2017 The Authors. Published by Elsevier Ltd.
© forecast.
2017 The districtPublished
of Alvalade, locatedLtd.in Lisbon (Portugal), was used as a case study. The district is consisted of 665
© 2017 The
Peer-reviewThe Authors.
Authors. Published by
under responsibility by Elsevier
Elsevier
ofthe Ltd. committee of the 1st International Conference on Power Engineering,
scientific
buildings that
Peer-review undervary in both construction
responsibility periodcommittee
of the scientific and typology.
of theThree weather scenarios
1st International (low,onmedium,
Conference high) and three district
Power Engineering,
Peer-review
Computing and under
and responsibility ofthe scientific committee of the 1st International Conference on Power Engineering,
CONtrol.
Computing CONtrol.
renovation scenarios were developed (shallow, intermediate, deep). To estimate the error, obtained heat demand values were
Computing and CONtrol.
compared with results from a dynamic heat demand model, previously developed and validated by the authors.
Keywords:BLDC Drives, Hybrid Fuzzy-PID, Fuzzy Rule, Tuning of PID Controller, Data Acquisition.
The results showed that when only weather change is considered, the margin of error could be acceptable for some applications
Keywords:BLDC Drives, Hybrid Fuzzy-PID, Fuzzy Rule, Tuning of PID Controller, Data Acquisition.
(the error in annual demand was lower than 20% for all weather scenarios considered). However, after introducing renovation
scenarios, the error value increased up to 59.5% (depending on the weather and renovation scenarios combination considered).
1.The
Introduction
value of slope coefficient increased on average within the range of 3.8% up to 8% per decade, that corresponds to the
1. Introduction
decrease in the number of heating hours of 22-139h during the heating season (depending on the combination of weather and
A Permanent
renovation Magnet
scenarios Brushless
considered). On DC motorworks
the other like a intercept
hand, function shunt DCincreased
motor in forwhich permanent
7.8-12.7% magnet
per decade is replacing
(depending on the
the A Permanent
stationary Magnet
field Brushless
winding.In DC
research, motorworks
laboratory like a shunt
experiments DC
and motor
industry in which
electricpermanent
coupled scenarios). The values suggested could be used to modify the function parameters for the scenarios considered, traction, magnet
DC motor is isreplacing
playingand
the stationary
improve field winding.In
the accuracy of heat demandresearch, laboratory experiments and industry electric traction, DC motor is playing
estimations.

© 2017 The Authors. Published by Elsevier Ltd.

* Corresponding
Peer-review author.
under Tel.: +91-9003635645.
responsibility of the Scientific Committee of The 15th International Symposium on District Heating and
* E-mail
Cooling. address:gowthameie@gmail.com.
Corresponding author. Tel.: +91-9003635645.
E-mail address:gowthameie@gmail.com.
1876-6102© 2017demand;
Keywords: Heat The Authors. Published
Forecast; bychange
Climate Elsevier Ltd.
Peer-review under
1876-6102© responsibility
2017 The ofthe scientific
Authors. Published committee
by Elsevier Ltd. of the 1st International Conference on Power Engineering, Computing and CONtrol.
Peer-review under responsibility ofthe scientific committee of the 1st International Conference on Power Engineering, Computing and CONtrol.

1876-6102 © 2017 The Authors. Published by Elsevier Ltd.

Peer-review under responsibility of the Scientific Committee of The 15th International Symposium on District Heating and Cooling.
1876-6102 © 2017 The Authors. Published by Elsevier Ltd.
Peer-review under responsibility of the scientific committee of the 1st International Conference on Power Engineering, Computing
and CONtrol.
10.1016/j.egypro.2017.05.234
1102 E Gowthaman et al. / Energy Procedia 117 (2017) 1101–1108
2 E. Gowthaman/ Energy Procedia 00 (2017) 000–000

important role nowadays. Industry also need of variable and fixed DC drives depends upon their applications. At the
same time DC motor speed control also mandatory inorder to achieve the expected output. The speed of DC motor
can be controlled by varying flux/pole, armature resistance and applied voltage. Here, DC motor speed is adjusted
by varying the terminal voltage Real - time Speed control of the DC motor is realized by DAQ device in LabVIEW
platform [1].
Conventional PI and PID controllers are also designed by modulus hugging (Hybrid) approach by analyzing
controlled parameters in order to get the best process response [2]. Modified structure of PID controller (Internal
Mode Control) is also developed for DC Drives. The results of the IMC tuning method provides a commendable
improvement in the overshoot, rise time and settling time of the system when compared with the Ziegler Nichols
closed loop tuning method [16].
Through the advanced technology, the PID Controller is implemented in FPGA with VHDL programming
environment [15]. However, the tuning of PID Controller by conventional tuning methods is not reliable for real
time process control. Instead, the soft computing based tuning methodology provides better reliability.
Traditionally, soft computing techniques developed fuzzy neural-network PI, PD-like controller and Genetic
algorithm based hybrid PID controller with online learning for a brushless drive system and industrial motor drives
[2] - [13]. From the existing works on Fuzzy-PID controller for speed control of PM BLDC motor as reported in [2]-
[7] are only based on simulation study. New proportional integral- derivative controller control scheme based on a
fuzzy system for tuning PID gains has been implemented for robot manipulators [9].

Fig.1. Closed loop Control of Proposed System.

The above block diagram (Fig.1.) represents the proposed closed loop control scheme for PMBLDC motor.In
this, the Hybrid Fuzzy-PID with self tuning technique (i.e. IF and THEN fuzzy rule base which provides optimal
response through the auto-selection of PID controller parameters).Then, Data Acquisition (DAQ) which is used to
acquire digital signal & generate analog output voltage to BLDC motor in order to meet setpoint speed.

2. Mathematical Modeling of BLDC Motor

The only difference between the Brushless DC motor and the conventional DC motor is addition of phases
involved which affects the overall results of the BLDC model [8]. The resistive and the inductive part of the BLDC
arrangement gets affected when there’s phase change. The whole phase concept of BLDC motor with a symmetrical
3-phase and “wye” internal connection is shown in Fig.2. The mathematical modeling of BLDC motor can be
derived fromthe mathematical model of typical DC motor. The schematic of DC motor is shown in Fig.3.

Fig.2. Equivalent circuit of Brushless DC motor. Fig.3. Schematic of Conventional DC motor.

1
Ke
G(s) =
τm .τe.s2 +τm .s+1
(1)
The above equation is the modified transfer function of conventional DC motor [8].
The BLDC motor produces a considerable effect on mechanical time constant when their phase effects are taken
into consideration.
 E GowthamanEnergy
E Gowthaman/ et al. Procedia
/ Energy Procedia
00 (2017)117 (2017) 1101–1108
000–000 1103
3

Rj j R
=τ m =
Ke Kt Ke Kt
(2)
Since for three phase symmetrical arrangement, Mechanical constant becomes,
j.3R
τm = (3)
K e .K t
3.Rφ .j
By considering the phase effects, equation (3) becomes τ m = (4)
K e .K t
Where K e = K e(L- L) 3
Similarly, the electrical (time constant) can be calculated as,
L L L
=τ e = = (5)
R  R 3.R
The mathematical model of the BLDC motor is obtained according to the selected BLDC motor parameters from
Table 1.

Table 1.Parameters for modeling BLDC motor

Parameters Values
Motor power rating(H.P) 1.5 HP
Equivalent resistance( R) 0.345Ω
Equivalent inductance(L) 0.314 mH
Torque constant (Kt) 4.19 Ncm/A
Voltage constant (Ke) 0.0419 V/rad/s
Moment of inertia (J) 0.0019 Ncm-S2
Electrical Constant value is calculated from Table 1 as
L
=
τe = 0.3019 (6)
3.R
Similarly, Mechanical Constant value is calculated as
3.Rφ .j
τm = = 0.01130 (7)
K e .K t

After substituting value of τ e and τ m in equation 1, the transfer function G(s) becomes,
G(s) = 23.86 (8)
0.00341s 2 +0.3019s+1
Derived G(s) equation is the closed loop transfer function of the Brushless DC motor.

3. Design and Implementation of Hybrid Fuzzy- PID Controller

PID controller finds its application in industrial control system due to feedback control loop mechanism.
The integral action of PID controller helps in achieving the target value by providing equality between measured
value and desired value with constant error which increases the controller output.
The relationship between error input e(t) and the output y(t) of PID controller is given by the following equation,
 1 ( de (t )) 
y (t ) = K p  e ( t )+  e ( t ) dt +Td  (9)
 Tí dt 
The PID controller can be tuned by various methods .The most commonly used closed loop manual tuning method
is Ziegler Nichols tuning. Complete elimination of steady state error of any process is not possible by manual tuning.
The drawback of manual tuning method was overcome by the development of soft computing tuning
1104 E Gowthaman et al. / Energy Procedia 117 (2017) 1101–1108
4 E. Gowthaman/ Energy Procedia 00 (2017) 000–000

methodology (Fuzzy Tuning) .According to the principle of fuzzy self tuning , error is changed in the entire process
to adjust the three parameter (i.e) Kp=Propotional gain, ki=Integral gain and kd= derivative gain of the PID controller
online so that good dynamic and static performance can be achieved[11]. When compared to conventional PID
controller it helps to achieve the desired response with minimum settling time and rise time.

Fig.4. Basic structure of Hybrid Fuzzy-PID.

The relation between fuzzy input parameters (error and change in error) and fuzzy output parameters (Kp, Ki and Kd)
are given by the Hybrid Fuzzy- PID controller which is shown in Fig.4.

In Fuzzy tuning process five fuzzy labels (NL, NS, ZE, PS and PL) are framed for fuzzy input parameters such as
error and rate of change in error values which are mentioned in Table 2 & Table 3 respectively. Similarly, six fuzzy
labels (PVS, PS, PMS, PM, PL, PVL) are framed for fuzzy output parameters such as Kp, Ki&Kd which is represented
in Table 4, Table 5 and Table 6 respectively.
The triangular membership function (MF) is used for both input variables (“e”, “ec”) and output variables (Kp,
Ki&Kd) as shown in the Fig.5, 6, 7, 8, 9 respectively.

Table 2. Fuzzy Set Values for Inputs (Error)

Fuzzy Label Points
Negative Large (NL) -1500 ; -1500 ; -800
Negative Small (NS) -1500 ; -800 ; -50
Zero (Z) -800 ; 0 ; 600
Positive Small (PS) -50 ; 700 ; 1500
Positive Large (PL) 600 ; 1500 ; 1500

Fig.5. Fuzzy Control of MF’s for Error “e”.

Table 3. Fuzzy Set Values for Inputs (Change in Error)
Fuzzy Label Points
Negative Large (NL) -150 ; -150 ; -90
Negative Small (NS) -150 ; -90 ; -30
Zero (Z) -90 ; -30 ; 60
Positive Small (PS) -30 ; 60 ; 150
Positive Large (PL) 60 ; 150 ; 150

Fig.6. Fuzzy Control of MF’s for Change in Error “ec”.

In the developed fuzzy system, the PID control parameters has been modified as follows,
Kp=Kp’+ΔKp (10)
Ki=Ki’+ΔKi (11)
Kd=Kd’+ΔKd (12)
 E Gowthaman et al. / Energy Procedia 117 (2017) 1101–1108 1105
E Gowthaman/ Energy Procedia 00 (2017) 000–000 5

Here, Kp’,Ki’and Kd’are representing the previous gain values by Hybrid Fuzzy-PID controller actions
Table 4. Fuzzy Set Values for Outputs (Kp)

Fuzzy Label Points

Positive Very Small (PVS) 0 ; 0 ; 15
Positive Small (PS) 0 ; 5 ; 10
Positive Medium Small (PMS) 5 ; 10 ; 15
Positive Medium (PM) 5 ; 15 ; 25
Positive Medium Large (PML) 10 ; 20 ; 25
Positive Large (PL) 15 ; 25 ; 30
Positive Very Large(PVL) 25 ; 30 ; 30

Fig.7. Fuzzy Control of MF’s for Proportional gain “KP”.

Table 5. Fuzzy Set Values for Outputs (Ki)

Fuzzy Label Points

Positive Very Small (PVS) 0;0;5
Positive Small (PS) 0 ; 5 ; 10
Positive Medium small (PMS) 5 ; 10 ; 15
Positive Medium (PM) 10 ; 15 ; 20
Positive Medium Large (PML) 15 ; 20 ; 25
Positive Large (PL) 20 ; 25 ; 30
Positive Very Large(PVL) 25 ; 30 ; 30

Fig.8. Fuzzy Control of MF’s for Integral gain “Ki”.

Table 6. Fuzzy Set Values for Outputs (Kd)
Fuzzy Label Points
Positive Very Small (PVS) 0;0;5
Positive Small (PS) 0 ; 5 ; 10
Positive Medium small (PMS) 5 ; 10 ; 15
Positive Medium (PM) 10 ; 15 ; 20
Positive Medium Large (PML) 15 ; 20 ; 25
Positive Large (PL) 20 ; 25 ; 30
Positive Very Large(PVL) 25 ; 30 ; 30

Fig.9. Fuzzy Control of MF’s for Derivative gain “Kd”.

The Twenty five rules are formulated for the developed fuzzy logic control system. Few of the rules are listed
below.
Rule1. IF Error “e” is Negative Large (NL) and Change in Error “ec” also Negative Large (NL) THEN Change in
proportional gain Kp’ is Positive Very Large (PVL) and Change in Integral gain Ki’ is Positive Medium (PM) and
Change in Derivative gain Kd’ is Positive Very Small (PVS).
1106 E Gowthaman et al. / Energy Procedia 117 (2017) 1101–1108
6 E. Gowthaman/ Energy Procedia 00 (2017) 000–000

This rule expresses that, when the output is R1, then the measured speed is more than the set point speed, then
DAQ provides change in analog voltage to the driver circuit.
R2. IF “e’ is NS and “ec” is NL THEN Kp’ is PVL and Ki’ is PM and Kd’ is PMS.
R3. IF “e’ is ZE and “ec” is NL THEN Kp’ is PVL and Ki’ is PM and Kd’ is PM.
Similarly, totally twenty five rules are framed. Finally, the fuzzy output variables (ΔKp, ΔKi, ΔKd) are converted
into real value output (analog voltage) shown in the Fig. 7, Fig.8 and Fig.9.
4. Experimental Setup
4.1. LabVIEW based simulation of PMBLDC motor control
This section describes LabVIEW based BLDC motor Control Simulation along with the implementation of
conventional PID and Hybrid Fuzzy-PID controller.
LabVIEW simulation block diagram of Conventional PID based BLDC drive is described in Fig.10. It consists of
motor transfer function, Conventional PID controller along with their parameters proportional gain (Kp), integral time
(Ti) and derivative time (Td).

Fig.10.Conventional PID simulation –Block diagram window. Fig.11.Hybrid Fuzzy PID simulation –Block diagram window.
The above block diagram window (Fig.11) shows the simulation of Hybrid Fuzzy- PID Speed control of PMBLDC
motor. It is designed based on motor model parameters as transfer function through the Fuzzy rule based PID
controller. The Fuzzy tuned controller contains membership functions and rule viewer for input and output
variables.
4.2. Hardware Setup
Conventional and Hybrid Fuzzy-PID performance is implemented in real time through NI-DAQ 6009 with
PMBLDC motor which is rated at 36V,4A and 4000RPM.Hybrid Fuzzy-PID based BLDC motor speed control
system with all conditions is given by the following flow chart (Fig. 12).

Fig.12. Flowchart of PMBLDC Drive. Fig.13.Block diagram window of Prototype Implementation.

 E Gowthaman et al. / Energy Procedia 117 (2017) 1101–1108 1107
E Gowthaman/ Energy Procedia 00 (2017) 000–000 7

The above LabVIEW block diagram (Fig.13) indicates the graphical programming language with the controllers
and the indicators which are interconnected by various tool blocks to perform real time speed control of motor
through DAQ Device. The desired speed is achieved by conventional & Hybrid Fuzzy-PID controller actions by
sending output voltage in the range of 0 to 5 V.
4.3. Results and Discussions
This section is illustrated the closed loop control of BLDC motor response using conventional PID & Hybrid
Fuzzy-PID. The performance of Hybrid PID controller is compared with conventional PID performance under the
consideration of rise time, settling time, dead time and also steady state error.
a) Simulation Response of Conventional PID & Hybrid Fuzzy-PID Controller Performance on BLDC Drive:
The response of conventional PID controller is drawn between motor speed and simulation time. The simulation
responses are obtained for the set point of 1000 RPM which is shown in Fig.14.

Overshoot is present
Quick Settling time with
absence of overshoot

Fig.14. Conventional PID –Simulation Response Fig.15. Hybrid Fuzzy PID -Simulation Response
Speed response of Conventional PID controller for two different set point speeds of 1000 RPM settles after 12.2 milli
seconds only with overshoot and undershoot values. The conventional PID controller attained poor performance due
to the improper selection of PID parameters with Ziegler Nicholas manual tuning methodology.
The Speed response of Hybrid Fuzzy-PID based controller is shown in Fig.15. Setpoint speed value is 1000 RPM
is attained after 6 milli seconds with the help of fuzzy rule based selection of PID controller parameters. It is
illustrated that, Hybrid Fuzzy-PID controller is reducing 50% of settling time from the settling time of conventional
PID controller and also overshoot& undershoot values are not present.
From the Simulation results of both conventional and Hybrid PID, Fuzzy-PID provides better performance over
the conventional PID controller for the various setpoint speed values of BLDC motor.
b) Prototype Model Response of Conventional PID & Hybrid Fuzzy-PID Controller Performance on BLDC Drive:
During the implementation and analysis of prototype model response, conventional PID controller requires more
time to achieve set point speed than the Hybrid Fuzzy-PID controller.

Overshoot

Undershoot
No Overshoot

Fig.16. Conventional PID - Prototype Model Response Fig.17. Hybrid Fuzzy PID - Prototype Model Response
The simulated time Vs motor speed curve for conventional PID controller is obtained using LabVIEW platform as
shown in Fig.16. Here the set point speed is 1000 RPM and the desired output speed is attained more than 12.2 milli
seconds with steady state error value of ±90 RPM.
Hybrid Fuzzy-PID controller performance on closed loop control of BLDC drive (prototype model) is explained
in Fig.17. Similarly, the Hybrid Fuzzy-PID controller performance is analyzed with the response which was drawn
between Motor speed and Simulation time.
 1108 E Gowthaman et al. / Energy Procedia 117 (2017) 1101–1108
8 E. Gowthaman/ Energy Procedia 00 (2017) 000–000

To analyze the Hybrid Fuzzy PID controller performance, the set point speed value is taken as 1000 RPM and the
desired output speed is attained after 9 milli seconds with 0 RPM as steady state error due to fuzzy rule based
selection of PID controller parameters.
Table 7. Tentative Results of Conventional PID Based BLDC Drive Table 8. Tentative Results of Hybrid PID Based BLDC Drive

Set point Settling Rise Dead Steady Set point Settling Rise Dead Steady
speed in time ts time tr time td State Error speed in time ts time tr time td State Error
RPM (ms) (ms) (ms) RPM (ms) (ms) (ms)

1000 12.2 20 60 ± 90 RPM 1000 9 19 20 0 RPM

2000 17.2 32 60 ± 75 RPM 2000 9 22 20 0 RPM
3000 21 30 60 ± 80 RPM 3000 9 26 20 0 RPM
4000 22.5 22 60 ± 70 RPM 4000 11.8 21 20 0 RPM

5. Conclusion
The Conventional PID and Hybrid Fuzzy-PID Controller techniques are successfully implemented for closed loop
control of BLDC drive system. The performances of two different digital controllers are analyzed by the investigation
of settling time, rise time,dead time and steady state error with simulation results as well as prototype results. From
the LabVIEW Platform based simulation and hardware results, it is concluded that, the Hybrid Fuzzy-PID parameters
are tuned automatically to meet the desired response and also results are short listed at various set point speeds. The
Hybrid Fuzzy-PID controller offers the better performance control over the conventional PID controller. While
comparing with conventional PID controller performance, Hybrid Fuzzy PID controller offers better dynamic
response, shorter settling time, rise time and zero steady state error.

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