MODELING AND SIMULATION FOR SPEED CONTROL OF

BLDC MOTOR USING PID CONTROLLER

REPORT

Submitted To
CHHATTISGARH SWAMI VIVEKANANDA TECHNICAL
UNIVERSITY, BHILAI (C.G.)

Submitted by
KOMESH KUMAR
MUSKAN MEHRA
NEHA SAHU
RAHUL KUMAR

Under the guidance of

MR.SUDHEER CHANDRA

DEPARTMENT OF ELECTRICAL ENGINEERING

JHADA SIRHA GOVERNMENT ENGINEERING COLLEGE
JAGDALPUR, YEAR- 2022-23

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 DECLARATION

We the undersigned solemnly declare that the report of the project work entitled “Modeling
and simulation for speed control of BLDC motor using PID controller" is based on our
own work carried out during the course of our study under the supervision of Mr. Sudheer
Chandra.

We assert that the statements made and the conclusions drawn are an outcome of the project
work. We further declare that to the best of our knowledge and belief that the report does not
contain any part of any work which has been submitted for the award of any other
degree/diploma/certificate in this university or any other university.

Signature of Candidate Signature of Candidate

Komesh Kumar Muskan Mehra
300802419011 300802419014
BH4614 BH4617

Signature of Candidate Signature of Candidate

Neha Sahu Rahul Kumar
300802419017 300802419021
BH4620 BH4624

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 CERTIFICATE

This is to certify that the report of the project submitted is an outcome of the project
work entitled "Modeling and simulation for speed control of BLDC motor using PID
controller” carried out by

Submitted by Roll No. Enrollment No.

Komesh Kumar 300802419011 BH4614

Muskan Mehra 300802419014 BH4617
Neha Sahu 300802419017 BH4620
Rahul Kumar 300802419021 BH4624

Carried out under my guidance and supervision for the award and Degree in Bachelor of
Engineering in Electrical Engineering Branch of Chhattisgarh Swami Vivekanand Technical
University, Bhilai (C.G.), India
To the best of my knowledge the report
i) Embodies the work of the candidate him/herself,
ii) Has duly been completed
iii) Fulfils the requirements of the Ordinance relating to the B. E. degree of the University
and
iv) Is up to the desired standard for the purpose of which is submitted.

(Signature of the Guide)

Mr. Sudheer Chandra

Department of Electrical Engineering

Jhada Sirha Government Engineering College, Jagdalpur, Bastar (C.G.).

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 CERTIFICATE BY THE EXAMINERS

This is to certify that the project report entitled

"Modeling and simulation for speed control of BLDC motor using PID controller”

Submitted by Roll No. Enrollment No.

Komesh Kumar 300802419011 BH4614
Muskan Mehra 300802419014 BH4617
Neha Sahu 300802419017 BH4620
Rahul Kumar 300802419021 BH4624

Has been examined by the undersigned as a part of the examination for the award of Bachelor
of Technology degree in Electrical Engineering of Jhada Sirha Government Engineering
College, Jagdalpur, Bastar (C.G.)

Internal Examiner External

Examiner Date: Date:

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 APPROVAL OF THE PROJECT

The project work entitled, "Modeling and simulation for speed control of BLDC motor
using PID controller” carried out by

Submitted by Roll No. Enrollment No.

Komesh Kumar 300802419011 BH4614
Muskan Mehra 300802419014 BH4617
Neha Sahu 300802419017 BH4620
Rahul Kumar 300802419021 BH4624

Under the supervision of Mr. Sudheer Chandra for the partial fulfillment of requirement of
the degree of Bachelor of Technology is hereby approved and being recommended.

Mr. Sharad Chandra Rajpoot Dr. A.K. Dubey

Sr. Associate Professor PRINCIPAL

Head of Electrical Department

JHADA SIRHA GOVERNMENT ENGINEERING COLLEGE JAGDALPUR,

BASTAR (C.G.)

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 ACKNOWLEDGEMENT

The authors wish to acknowledge their profound sense of gratitude to Mr. Sharad Chandra
Rajpoot (H.O.D. of Electrical Engineering department) of Jhada Sirha Government
Engineering College, Jagdalpur, Bastar (C.G.) for their remarkable guidance and continued
encouragement during the preparation of this project. Indeed, it was a matter of great felicity
and privilege for the authors to work under their aegis.

The authors express their thankfulness to them for their dedicated inspiration, lively interest
and patience through our errors without which it would have been impossible to bring the
project near completion.

The author would like to thank the Mr. Sudheer Chandra of Jhada Sirha Government
Engineering College, Jagdalpur, Bastar (C.G.) for all the encouragement and facilities
provided to the students.

We also thankful to Dr. A. K. Dubey Principal, of Jhada Sirha Government Engineering

College, Jagdalpur, Bastar (C.G.) for his kind permission to carry out this project and we
also thankful to faculties members of Electrical Department.

Submitted by Roll No. Enrollment No.

Komesh Kumar 300802419011 BH4614
Muskan Mehra 300802419014 BH4617
Neha Sahu 300802419017 BH4620
Rahul Kumar 300802419021 BH4624

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 INDEX

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 ABBREVATIONS

 BLDC : Brushless Dc Motor.

 PID : proportional Integral Derivative.
 sGA : genetic Algorithm.
 HIL : Hardware in the loop.
 ANN : Artificial Neural Network.
 FLC : fuzzy Logic Controller.
 FGPA : Field Programmable Gate Array.
 FPA : Flower Pollination Algorithm.
 AWC : anti Windup Controller.
 PSO : Particle Swarm Optimization.
 PMBLDC : Permanent Magnet Brushless Dc Motor.
 WNL : wavelet neural learning.
 FPID : Fuzzy Proportional Integral Derivative.
 MRAC : model reference adaptive control.
 ANNMRC : Artificial neural network model reference controller.
 FOPID : Fractional Order Proportional Integral Derivative.
 BA : Bat Algorithm.
 PO : percentage of overshoot.
 MGA : Modified Genetic Algorithm
 LQR : Linear quadratic regulator.
 PD : Proportional derivative.
 PI : proportional integral.
 IAE : integral absolute error.
 ISE : integral squared error.
 DPNN : Deep perception neural network.
 GWO : Grey wolf optimization.
 WNN : Wavelet neural network.
 RBFNN : Radial Basis Function Nural Network.
 PWM : Pulse width modulation.

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 ABSTRACT

Electricity is a renewable energy that supports the adoption of this technique and is currently a
major topic of discussion in every country on earth. Electric motors are used to accomplish the
majority of electrical power's primary uses because they convert electrical energy into
mechanical energy. This article presents a healthy MATLAB and SIMULINK simulation model
of a PID-controlled brushless DC motor drive. Efficiently control a brushless DC (BLDC)
motor using a PID controller. Validate the mathematical modeling of the BLDC motor. The
dynamic features of BLDC can be easily observed and analyzed using the proposed model. For
a variety of industrial applications, Brushless DC (Brushless dc) motors is frequently utilized
due to their dependability, high efficiency ,strong starting torque ,and less electrical noise. In
this study, conventional PID controller were used to evaluate the BLDC motor's performance.
PID controllers are frequently utilized in the industry because of their reliable performance and
straightforward design. the Brushless direct current (BLDC) motor is effectively managed. The
BLDC motor mathematical modeling is confirmed. Using the proposed model, it is simple to
observe and analyze the dynamic properties of BLDC motors (speed and torque), as well as the
current and voltages of the inverter components.

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 INTRODUCTION

The motor's creation ushered in the industrial revolution, which is still going strong today. Diffe
rent types of motors have been created over time, however these motors are typically divided in
to two primary groups: AC motors and DC motors. A variety of DC motors are available for usa
ge with various gadgets.

However, two distinct types of DC motors are usually used in industrial applications. In the first
form, the magnetic flux is produced by the current flowing through the static pole structure's fiel
d coil, and in the second type, a permanent magnet provides the necessary air gap flux[1]. A
BLDC motor is a particular kind of DC motor that does not utilize a brush for transportation but
rather an electronic process system. The BLDC motor is typically a synchronous motor with a
trapezoidal back EMF waveform and a permanent magnet. The present trend demonstrates that
high-performance BLDC motor technologies are widely employed for international industrial
applications and variable speed drives in electric cars[2]. These motor types actually rely on
their control circuit. Fig. 1 depicts a fundamental control scheme for the BLDC motor.

The BLDC motor tuning control project selection, simulation, and other elements. The structure
of a BLDC motor is a difficult process that is dependent on many factors such as project
selection, modeling, simulation, and so on. A variety of current control techniques have been
presented for the BLDC motor's speedy architecture[3].

The major characteristics of a traditional PID controller algorithm are its simplicity, stability,
and ease of adjustment, which make it popular for system control. In the PID controller, a
common speed control mechanism is used for practical reasons. It has been suggested and
proven to use fuzzy logic and PID controllers for the BLDC motor's speed control and
mathematical model[4]. In most situations, a distinct outcome is evident in terms of practical
utility experiences when the volatility of a well-structured prototype, different units of
nonlinear, low variability have been at work. Getting the prime place under the studied
conditions is difficult since tweaking a PID controller's settings is not an easy task[5]. By
making minor modifications to a PID controller, this study suggests a way to enhance the
BLDC motor's regulation speed. In this situation, settings can be adjusted while a PID controller
is operating. In order for the PID controller system to operate properly, input and membership
functions must be improved[6]. Simultaneously, a set of values for the PID controller's constant
coefficients, Kp, Ki, and Kd, are used. The proposed updated controller would be adapted to
any modifying dimension by using these values.

The goal of this study is to demonstrate the dynamic response to the instant tuning outcome of
the modified PID controller that has been suggested in order to control motor speed and
maintain constant speed under changing loads. Thus, the PID regulator can improve the BLDC

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motor's overall performance. The simulation results demonstrated that a better control
performance could be given for the PID controller's functions[7].

Fig 1. Basic Circuit Diagram for the BLDC Motor Control System

BLDC MOTORS - BLDC motors are now widely used in a variety of applications due to their
long operational lives, noiseless operation, extremely high speed range, extremely high
efficiency, and dynamically faster response.numerous applications, including servo electrical
vehicles, DVD burners, and hard drives. Additionally, the BLDC motor's lack of brushes offers
us benefits like [11]:
 BLDC motors are silent.
 There are no sparks, thus it can be used in any risky working situation and with any
delicate media.
 The compact size of the motor.
 the lack of brush replacement, which lowers maintenance costs.
 the improved performance of the torque and acceleration.

A brushless DC motor is a synchronous electric motor that runs on DC electrical current. It

differs from a DC motor in that it has an electronic commutation control system rather than the
more traditional mechanical commutation system that employs brushes.We are all aware that
PID controllers continue to be a very trustworthy control technology based on a number of
properties, such as their low cost, extremely minimal maintenance requirements, and highly
pleased performance with tuning procedures for any linear system.According to all of the
aforementioned characteristics, PID is still widely used in industry and for many automatic
control applications, and it is also used with BLDC motors. However, non-linear systems, the
issue of speed changes after adding additional loads, and the going to suffer from changing
dynamic behavior after prolonged operation are problems that arise with PID technique and are
very challenging to solve with a fixed PID controller. Additionally, the external noise makes
PID controllers a poor choice for controlling the BLDC motor in these conditions because it
requires us to modify the parameters on the fly.All of these factors lead us to consider a more

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flexible and appropriate controller, such as fuzzy logic, which is based on linguistic rules that
make the system more versatile and dynamic. And if we need to talk a more dynamic controller
that will take us from a flexible controller to a new zone of an intelligent controller, we will talk
about using ANFIS (Adaptive Neuro Fuzzy Inference Systems) controller, which makes our
system dynamic by using training, learning, and testing techniques that
improve performance[12].

PID CONTROLLER – In any process, we must use a control technique to design a

comfortable controller to overcome any error and minimise the risk of failure. error, and to
arrive at the desired destination in the shortest amount of time. In the case of speed control, we
can define speed equation error as:

e(t) = ωd(t) – ωa(t) ………….(1)

de (t)
u(t) = kp e(t) + k1 ꭍote(t)dt + kD . .....................(2)
dt

Where:
u(t) is the controller's output signal.
The proportional gain of the controller is denoted by kp.
The integral gain of the controller is denoted by kI.
kD is the controller's derivative gain.
The error function is denoted by e(t).
Figure 2 shows a block diagram that explains how our PID controller works.

PID Actual
Error speed
out
Reference PID The
Speed Controller Process
ωd(t)

ωa(t)

Fig.2 PID Controller block diagram

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 LITERATURE SURVEY

1. Md Mahmud1 et al – The author describes the design of the BLDC motor control system using
in using MATLAB/SIMULINK software for Proportional Integral Derivative (PID)
algorithm that can more effectively improve the speed control of these types of motors.
From the results, it is observed that the PID controller provides the best performance
compared to the other two controllers, PI and Fuzzy logic. The design has been validated by
MATLAB simulation.

2. Mr. Sandeep Masade et al - Through this paper, Hall sensors based closed loop
implementation to control the speed of the motor is discussed. Simulation results and chip
scope validation results of implemented PID based BLDC motor controller shows accurate
results. Use of PID in the closed loop implementation adds efficiency and stability to
systems. The FPGA based implemented motor controller can be used for system critical
applications where the system stability and motor speed accuracy are the determining
factors.

3. R.G.Rajesh1 et al – The author describes an efficient simulation model of PID controlled

brushless direct current motor drive using MATLAB / SIMULINK is presented. The
dynamic characteristics of BLDC motor (speed and torque) and as well as current and
voltages of the inverter components are easily observed and analyzed by using developed
model. In this paper, a complete analysis of brushless DC drive system has been performed
by using PID controller. The simulation model which is implemented in a modular manner
under MATLAB/SIMULINK environment allows that many dynamic characteristics such
as voltage, rotor speed, phase current and mechanical torque can be effectively considered.
Furthermore, sensor less control is the only choice for some applications and a high
performance is required.

4. Archana Mamadapur et al - The primary aim of the author is to control the speed of brushless
DC motor using Artificial Neural Network (ANN) controller and PID controller. From
speed response of system for different controller as shown in the simulation result, it is clear
that the settling time for BLDC motor controlled by ANN controller is much lesser than that
of PID controller. This response of ANN controller is nearly equal to the response of
reference model. Thus speed control of BLDC motor by ANN controller gives better result
than PID controller.

5. Ahmed K. Hassan et al – They describes from this paper is to control the speed of a brushless
dc motor by using PID controller, Fuzzy logic controller, and Neuro fuzzy controller. They
describe that PID controller is a simple controller with a simple tuning method but with a
moderate response and performance. Fuzzy controller is more complicated controller but

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 with a good and more stable performance. Neuro fuzzy controller is very complicated
controller but with a very good performance.

6. P.S.SAVALIKAR et al – They describes the speed control strategy using conventional PID
controller combined with intelligent fuzzy controller. The shortcomings of PID controller
are minimized using Fuzzy-PID controller. From the simulation results they can see that
PID controller shows fault in overshoot and results in more oscillations and higher settling
time. This can be cured by Fuzzy-PID controller that show lesser oscillations, less rise time,
low overshoot and less settling time .Above all, the Fuzzy-PID controller can react quickly
as compared to the conventional PID and tune the plant nonlinearities like in BLDCM with
higher accuracy of control and higher precision.

7. Md Mustafa Kamal et al - In the present work, the design of PID controller using genetic
algorithm has been presented. The dynamic behavior of BLDCM has been studied with the
conventional controllers as well as fuzzy PID controller. It is observed that from the
conventional controller the results can be better to an extent. By using fuzzy logic controller,
results can be further better than conventional controllers. The proposed GA-PID controller
not only eliminates the overshoot of the response but also shows better improvement in term
of rise time, settling time and peak overshoot. Thus it is concluded that for the speed control
of BLDCM, GA-PID provided far better response.

8. Hayder Salim Hameed et al -The design of a PID controller is presented and compared to
conventional P and PI speed controllers of a brushless DC motor. The comparison based on
various control system characteristic parameter like rising time, settling time, and maximum
overshoot. From the results it is obvious that the PID-controller response is faster than P and
PI controllers with non-overshoot and can follow the reference speed in minimal time than
any other controller at unexpected load. Both system simulation and HIL Simulink results
are given to prove the utility of the control system and it is found that the hardware result is
almost close to simulated result.

9. P. Hari Krishnan et al - This paper presents the performance of fuzzy PID controller and
Adaptive Fuzzy PID controller of BLDC motor for speed control using Simulink model.
Combination of fuzzy control and conventional PID controller establishes an intelligent
control, which regulates the control parameters depending upon the error. Two inputs and
three outputs were used in this fuzzy adaptive PID controller. From the Simulation, BLDC
motor speed control of Adaptive fuzzy PID controller had better performance than fuzzy
PID controller for the same operation condition, mainly when BLDC motor operates in
different speed and also BLDC motor speed to be constant when the load varies. Simulation
results were also shows that fuzzy logic adaptive PID controller had lesser overshoot, faster
response and better stability.

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10. Anis Nurashikin Nordin et al – In this paper they describe controller used for three-phase
BLDC motor for its speed control. As a result, an adaptive PID controller gives excellent
Simulation results. An adaptive PID controller technology has more advanced to control
BLDC motor. However, it is worth noticing that when the motor functions at up and down
speeds, for it to be well responsive, the motor speed must be continuous when the load will
change. This study aims will be developed a Prototyping an adaptive PID controller to
control BLDC motor. It helps to developed BLDC motor speed and efficiency.

11. Mohammed Abdelbar Shamseldin et al - In this paper they describes a three different
control techniques are implemented in order to achieve a good speed regulation/tracking
regardless the presence of external disturbances and/or parameter variations. The first
technique is the famous PID controller. The second controller technique use genetic
algorithm to adjust the values of the controller parameters by minimizing three different cost
functions. The third technique is the fuzzy PID in which the controller parameters are not
constant and continuously adaptively updated according to the error and the change error in
order to achieve the required speed tracking. Result shows that the proposed fuzzy PID has
better performance compared to the other two techniques.

12. S.Muthulakshmi et al – In this paper they describes, a closed loop speed control of BLDC
drive using PID and Fuzzy PID controller is proposed. The Fuzzy PID Controller meets the
required output when compared to PID controller. The proposed speed control scheme is
robust, efficient and easy implement in place of sensored applications. Experimental results
show that the effective smooth speed control of brushless dc motors can be achieved by the
PID, thus making the PID suitable for high performance motor drive applications. This
makes the motor suitable in applications such as fuel pump, robotics and industrial
automation.

13. Jival Angeti et al -

This study shows that how PID and fuzzy tuned PID controllers are implemented using Sim
ulink displays. When compared to a fuzzy tuned PID controller, tuning PID gains & process
ing using a standard PID controller is complex & ineffective; it doesn't deliver acceptable co
ntrol characteristics.The simulation outcomes clearly demonstrate that fuzzy tuned PID cont
rollers execute controls more effectively than traditional PID controllers.

14. Haichao Wang et al -

The BLDC motor control system that is suggested in this study is implemented using an FP
GA. By generating fuzzy PID control module internal logic resources using the VHDL prog
ramming language, the reaction time may be increased more effectively. Utilizing internal lo

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 gic resources effectively is possible. The simulation outcome shows that: fuzzy PID control
to fulfill the requirements of motor speed control system, the speed achieving stable output
& based on fuzzy PID control module benefit lie in simple structure, simple control, high ac
curacy, quick reaction, powerful anti ability, good stability, etc. Its old method is currently b
eing replaced by fuzzy control in more applications.

15. B.V. Manikandan et al - In this research, an online-optimized adaptable Neuro-fuzzy

estimation for BLDC motor speed control is described. This is apparent from the simulation
& experimental setup findings that the suggested controller can solve the uncertainty issue
brought on by load & set speed variations. The controller's outstanding performance makes
it the perfect choice for use in process industries.

16. Chang Hyun Kim et al - An improved PID controller is designed approach including an
internal feedback PD controller is presented in this research. Convex set across PID & PI
controllers with an inside PD controller make up a recommended controller framework. An
ideal tuning method is used to establish the control settings in order to enhance the
controllable set's step response properties. The speed management of BLDC motors is
handled by the novel PID structure & optimum tuning method. According to computer
simulation results, the suggested controller performs better in the time domain when
compared to the PID controller's present tuning rules.

17. S. M.A. Motakabber et al - This study describes a speed that is steady and has a short
rising time. The MATLAB/Simulink program was used to conduct this investigation. The
outcomes indicate a fresh approach to the controller design's advancement. The primary
goal of the research was to examine the effectiveness of the BLDC motor speed control.
With two separate pre-selected motor rpm rates of 1000 rpm & 1500 rpm, respectively, a
varied range of torque load was applied in this investigation. The FPA-based speed
controller's operating results demonstrate impressive performance. The suggested system
may operate with less noise & has less overshoot while changing motor speed & torque
load. Better than a simple PID controller is the output of an FPA controller.

18. B. S. Shukla et al - This study compares the speed control of a BLDC motor as an
open- loop employing PID & neural-network approaches. From the simulation analysis, it is
clear that neural networks perform better than methodologies. In Matlab, a Bldc controller
model has been created. System design is made using the Matlab optimization tool. The
speed was changed, & evaluations here between BLDC motor using open loop approach,
PID controller & PID controller using ANN were made. However, a performance index that
took into account overshoot, increase, and settling time was generated and compared.

19. Dagui Huang et al - An implementation of a certain type of digital PID controller for
brushless DC motor driving is made in this study. The speed control & current control are

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 two closed-loop controls that make up the control architecture. In this control system, a
digital adaptive PID algorithm is described and used to increase the control system's
flexibility, reliability, and performance. The AVR microcontroller is used to implement and
test it in order to create a completely digital hardware design strategy. The integrate power
module (IPM) is used in this system to minimize the size of the control system and simplify
the system's implementation. This article introduces the system's execution as well as the
design method for the system's software and its hardware.

20. Prof. A. Halim Bassiuny et al - They collaborate to develop and execute three distinct
sophisticated control strategies to address this issue. The first method uses self-tuning fuzzy
PID control, where the PID controller settings are customized live depend on the defect &
defect change to achieve the appropriate speed tracking. Model-reference adaptive control
(MRAC), the second approach, expresses the required performance in the context of a
reference model. The third approach, MRAC with PID compensator, can address MRAC's
shortcomings by allowing for a quicker reaction without significant overshooting. The
findings from both the simulation or the testing were exact, demonstrating the superiority of
MRAC with a PID compensator over other control strategies.

21. Musyaffa’ Ahmad et al - The design and modeling of the fuzzy-PID control system for
BLDC speed control have been completed successfully. According to the simulation,
utilizing the Fuzzy-PID control can result in faster & more steady speed performance than
doing so with the standard PI control. The application of Fuzzy-PID control may minimize
speed variation and improve torque stability, allowing the BLDC motor to run more
dependably. In terms of stator current & back EMF, Fuzzy-proportional integral derivative
have more steady current and voltage than PID, resulting in lower losses. Additionally, the
suggested approach, Fuzzy-proportional integral derivative, processes data 6.27% quicker
than proportional integral derivative.

22. Abasin Ulasyar et al - In this study, an intelligent Pid is built and studied, and it controls a
BLDC motor. The BLDC motor dynamic model has nonlinearities and uncertainties that
make the performance of the conventional PID controller unstable. As a result, an intelligent
Pid is developed using the expert's expertise and understanding of the characteristics of the
plant. Simulated using Matlab/Simulink was this designed intelligent controller. The
performance of the suggested intelligent PID controller is superior than that of a
conventional PID controller. According to simulation results, its built-in intelligent Pid has
good reference tracking and robustness against outside disturbances.

23. Adel A. El-samahy et al - Two alternative control strategies are used in this article to
accomplish good speed regulation/tracking in the presence of an external disturbances &
parameter fluctuations. The first approach is fuzzy PID, by which the controller settings are
not constant and are continually updated adaptively based on the error & the error's change

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 in order to attain the needed speed tracking. Model-reference adaptive control with a PID
compensator used in the second approach. Without a PID compensator, Model-reference
adaptive control performs poorly due to significant S.S. error and overshooting.
Performance will be enhanced by combining a PID compensator with an MRAC. To
examine the usefulness of both controllers, many experiments are run. These tests involve
parameter changes & abrupt disturbances. Simulation findings demonstrate that both
controllers. Both controllers are reliable & suited for high - performing drive applications,
acc. to simulation data. It is also obvious that MRAC performs significantly better than a
self-tuning fuzzy PID controller, particularly for system that are prone to
abrupt disruptions.

24. Albert John Varghese et al - Using MATLAB/SIMULINK, one PID controller model was
created in this project to control the speed of a BLDC motor. The MATLAB/Simulink
System Design Optimization tool was used to do the simulation. A comparison of BLDC
motors with PID controllers based on and without traditional PID controllers has been
conducted at different speeds (1000, 2000 rpm) and varying load torques from 0 to 10 N-m.
The rising time & percentages overshoot of the controller's performance indices are
computed and compared. As a result, in a nonlinear dynamic environment, the Simulink
System Modeling based PID controller increases the response & performance of a
standard PID controller.

25. Mohammed M. Ezzaldean et al - This work proposes an adaptation algorithm to modify

the adaptive PID controller's parameters. The suggested algorithm benefits from both the
technique and also the grey model GM(1,1) As just a Brushless dc motor speed controller,
the Grey-PID control is constructed. The updating process for this speed controller relies on
the anticipated speed. Due to the precision of the grey predictor's predictions, the PID
control is already configured to handle any unexpected change in speed. Within the same
conditions, the suggested controller's performance is compared to that of the conventional
PID controller.The Grey-PID controller surpasses the PID controller, according to
simulation results. The proposed controller is quite effective in containing the variation.

26. N. Leena et al -This paper introduces its advancement and deployment. Adaptive Model
Reference Controller Performance Analysis Using artificial neural networks (ANN) for
brushless DC motors(BLDC) drive. Adaptive System Model Reference (MRAS) Has a
parameter arrangement mechanism along with the normal one If there is a feedback loop,
we will provide a better solution. Variation in process parameters. neural network (NN)
Inherent Parallelism, Learning Ability, and Errors Tolerance has proven to be a bright
solution for estimation and control of nonlinear systems. This paper is a combination of
MRAS. Use ANN to solve non-linearity, parametric problems Fluctuations and Load
Variations Encountered in BLDC Motor Drives system. Simulation results are displayed
Prove that MRAC-based models are velocity-trackable Reduces the effects of parameter

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 variation.

27. Shu Xiong et al - Consider the drawbacks of conventional PID control Brushless DC motor
control technology Designed accuracy, response delay, control instability, RBF
Intelligently combine neural networks and PID algorithms controller. Study of control
system by RBF network and PID Control parameters are modified online in real time.
Finally, the simulation results are Compared to conventional PID control, The results show
that the RBF neural network has a PID controller. They are characterized by short reaction
times and excellent robustness.

28. A. Halvaei Niasar et al - In this article, an adaptive neural fuzzy controller (NFC) based on
emotion learning was proposed and was studied. To improve the control performance, a
critical was defined and used to monitor the training of the neural network . In addition,
other critics are used to reduce his amount of control overhead. The performance of the
proposed NFC is analyzed and compared with his conventional PI controller for velocity
tracking and interference rejection of the BLDC motor drive. I found his performance on the
NF controller outperformed the PI controller.

29. Same

30. Upama Das et al - In this work, simulation studies were analyzed and Genetic algorithms
have proven to be very effective in suppressing frequency oscillations and improving
systems Improves performance by effectively reducing overshoot. The results show that
using time delays the dynamics Improved system responsiveness and GA Used to
effectively compensate for deterioration system speed. Ease of control is a key feature
Advantages of the proposed work: GAs are easier to create and modify and are more robust.
GA simulation controlled using MATLAB The BLDC motor speed proves to be the desired
speed. achieved with a short response time compared to traditional control.

31. Anand Karuppannan et al - In view of Under this aspect a new hybrid machine is
presented in this research work Develop a learning controller model using slime Mold
Algorithm with Newly Modeled Wavelet Neural Learning Models and Type 2 Sugano
Fuzzy Models Effective engine speed control. It has been developed SMA-WNL-Type 2
Sugano fuzzy PID controller installed Achieve optimal weighting factors and outcome rules
Part of a fuzzy reasoning machine. Proposed hybrid His machine learning based PID
controller was tested Idle, full load and fluctuations with load conditions and time behavior
Rated.

32. Jafar Mostafapour et al - Brushless direct current (BLDC) motors have several advantages
over brushed direct current (DC) motors. Induction motor (IM). They have superior speed-
to-torque characteristics, high dynamic response, high Efficiency, long life, quiet operation,

19 | P a g e
 high speed range and robust construction. also, Torque transferred to motor size is higher,
useful for applications where space and weight are critical cause. Due to these advantages,
BLDC motors are widely used in automotive equipment. Aerospace, medical,
instrumentation and automation industries The controller compared with his PI control he
can achieve much better results with BLDC motor rotation speed increased arrival.

33. Sakshi Solanki et al -Controller for artificial neural networks (ANN) was used for speed
control BLDC motor drive and analysis of results Shows the performance of the ANN
controller. Or Modeling and simulation of the entire drive The system is described in this
document. Upon The effectiveness of the model is Broad range of performance predictions
operating conditions. performance of BLDC Motor Drive Affecting PID
controller, ANN controller and experimental Validate with a conventional PID controller
using MATLAB/SIMULINK software.

34. S. Sunisith et al - This article describes a mathematical model of a BLDC motor. developed.
Finally, closed-loop speed control BLDC is performed. and simulation results are displayed.
Performance Evaluation results show that this modeling is very useful Research high-
efficiency propulsion before you pick it up Dedicated controller design concept for
evaluating dynamics engine performance. We present simulation results from A
conventional PID controller and three fuzzy PID controllers Phase BLDC motor. The
simulation results show that Under the same operating conditions, the BLDC speed is Better
control with fuzzy PID controller techniques Mainly better performance than traditional PID
controllers when the engine runs at low and high speeds.

35. Devendra Potnuru et al - Implementing Rapid Control Prototyping for Speed Control of a
BLDC Motor Drive with dSPACE .A DS1103 controller board was considered. The
developed scheme was successfully tested at very low speed
From 15rpm to high speed of 2500rpm. The effectiveness of the presented approach was
examined for various references speed. It can be seen that the performance of the proposed
approach shows good results in all cases. the most important Advantages of the current
work are reduced testing time of the proposed control algorithm for BLDC motors, Similar
methods can be used for other electrical machines. From this, Rapid Control Prototyping
Scheme for Speed Control of BLDC Motors Using dSPACE DS1103 Saves Time and Effort
Experimental.

36. Tariku Sinshaw Tamir et al - In this paper, intelligent Controllers (that is, hybrid (neuro-
fuzzy) controllers, ANNMRC and FLC) and traditional PID controllers, and in between
Gain a more intelligent understanding of control capabilities Control for industrial control
applications. BLDC motor Developed dynamics and its control mechanism Simulink in
MATLAB. Generate and Build Datasets Hybrid Intelligent Control Algorithm Main
Contribution paper. Given the reference velocity trajectory, this is true three controllers, i.

20 | P a g e
 H. FLC, ANNMRC and Hybrid (Neuro-Fuzzy) Control Algorithm Offers Superior
Capabilities Compare to conventional PID controller for trajectory Track performance in
both failure and failure cases Unobstructed system.

37. Wei Xie et al -This paper describes optimization techniques for PI controllers. Speed
Control Parameters for Brushless DC Motors Based on variable inertia weighted PSO
algorithm Proposed. Inertial weight is a very important parameter Influencing the local
developability of PSO algorithms, Global search function. Local search and global search
The balance of the PSO algorithm can be adjusted by tuning. A certain amount of inertial
weight. through the right By adjusting the inertial weight, PSO algorithm for tuning PI
controller parameters can improve, accelerate the convergence speed, A more accurate
optimal solution is obtained. Above On the other hand, other metaheuristic methods such as
ant colony optimization algorithm (ACO), bat algorithm (BA),
Chicken Swarm Optimization (CSO) algorithm and frefy Algorithms (FA) are studied in the
optimization of PI Controller parameters for future brushless DC motors work.

38. Hidayat et al - This white paper described how to control the speed of BLDCM. We
compared different control structures. BLDCM model built from an identification system
represented by Actual system acquired to measure dynamic response system. Hybrid PID-
ANFIS Controller I got the best answer because I made a mistake. was closed Obtained if
the error is less than 10% of ANFIS The controller has finished, but the error corresponds to
10% of the PID Your controller is ready. So the PID controller is the main controller.
Control and ANFIS as utilization control. Hybrid PID ANFIS controller applying summed
output PID Controller and ANFIS controller can be rise time Shorter, but more overshoot.

39. M. P. Santana et al - In this paper, we propose a new anti-windup. Way of integration part
of many controllers: PIs, PID and fuzzy PD+I. The proposed method does not do this As
such, the anti-windup method does not require a factor. Other known anti-windup methods
do this. Full deduction Development of a proposed anti-windup procedure Here PI, PID and
fuzzy PD+I are represented. Two common and simple anti-windup equivalent methods.
Below is the proposed anti-windup application. Processing and use in brushless DC motor
speed control Fuzzy PD+I controller. Traditional anti-windup method with better results
Results than this traditional method.

40. Vijay Kumar Verma et al - In this work there is a design presented systematically PID
Controller for Speed of BLDC Motor Using PSO base algorithm. Then I implemented it
PID controller with 2nd generation CCII circuit AD844 IC as active device. received
Improved transient and steady state performance. Also received a better one Trackability
and Verification.

41. Mr. Abasin Ulasyar et al on 2018 gave us the conclusion that, an intelligent PID is controls a

21 | P a g e
 BLDC motor. The BLDC motor dynamic model has nonlinearities and uncertainties. As a
result, an intelligent PID is developed using the expert's expertise and understanding of the
characteristics of the plant. The performance of the suggested intelligent PID controller is
superior than that of a conventional PID controller. According to simulation results, its
built-in intelligent PID has good reference tracking and robustness against outside
disturbances.

42. Mr. Md Mahmud along with et al control speed of BLDC motor. The system adaptation
can be enhanced by incorporating an auto-tuner with a PID controller. With less oscillation
and adjustment time, the suggested adaptive PID controller could swiftly regulate the BLDC
motors. The proposed controller system was used to simulate and verify the design using
mathematical transfer function modelling. The overall ripple was less than 1%, as according
initial report, and the stabilisation time was shorter.

43. Mr. Ameer L. Saleh et al worked on 2014 In BLDC motor, comparison to a similar
system utilizing a traditional PID controller, a closed loop speed controller. This study
models and simulates the BLDC motor using Matlab/Simulink to develop a speed control
technique. We recommend and put into practice a speed control technique for DC links. The
genetic evolutionary programming module is used to optimize the Kp, ki, kd, and
parameters of the FOPID speed controller.

44. Mr. S. Thamizmani et al 2014 gave us the point that Performance of the Controllers of
BLDC motor with Reference speed of 500rpm. This study presents some results of a
simulation using a fuzzy PID controller and a three-phase BLDC motor. The simulation's
outputs include the BLDC motor's speed, three-phase currents, phase-back EMFs, and
electromagnetic torque with traditional PID and fuzzy PID controllers. The speed of the
BLDC with the fuzzy PID controller did not oscillate throughout simulation, resulting in
less steady state error and settling time.

45. K. Sushita et al on 2021 gave us the performance of A three-phase, six-switch BLDC

motor rated at 1 kW, 500 Vdc, & 3000 rpm is powered by a regulated dc voltage using a
six-switch, three-half bridge inverter. Decoding the motor's hall effect signals gives the gate
signals for the inverter. An analysis is performed on the stator emf, stator current, rotor
speed, and electromagnetic torque. Calculated operating variables are rise time, settling
time, and overshoot percentage.

46. Mr.Gwo-Ruey Yu et al 2004 gave us an idea of how a speed control of Brushless DC

Motors Using LQR Approach. By assigning poles, the weighting functions are created. The
proposed scheme's key advantages are that (1) an observer design is not required; (2) the
PID parameters are not constrained; and (3) the weighting functions can be derived by
assigning poles.

47. Mr. Jianli Jing et al 2016 Design the proposed fuzzy-PID method uses PID control when
the mistake is minor and fuzzy control when the is large, giving it both the constant
precision of PID control and the fast responsiveness of standard fuzzy control. The
experiment results demonstrated that the suggested fuzzy-PID controller outperforms both

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 the conventional PID controller as well as the conventional fuzzy controller in terms of
dynamic and static performance, overshoot, speed response, and static precision.

48. Mr. Roedy Kristiyono et al 2021 gave us conclusion that the control process using a PID
control parameter tuning system with fuzzy logic applied to tune the BLDC motor can
enhance PID control performance. PID control system reaction characteristics with an
average value are rise time 0.025 seconds, settling time 0.1625 seconds, and overshoot
15.98%. This is done by testing set point change and load changes. Fuzzy PID with
autotuning control has an overrun of 5.42% and an average value rise time of 0.0025
seconds.

49. Mr. Hua Ji et al Worked on 2009 In BLDC Motor and gave us conclusion that After a few
seconds of training with the classic PID controller, a second parameter self-tuning PID
controller based on the BP neural network is switched to. An established Matlab/Simulink
simulation model. The simulation findings show that, in comparison to the typical PID
controller, the neutral network PID controller may increase the robustness of the system and
has greater adaptabilities to the model and conditions.

50. Mr. K. Vanchinathan et al 2017 gave us Information of Performance of the FOPID

controller at zero load, half load, and full load. It can be deduced that the proposed BA
method's steady state error is roughly 60% less than the ABC method's and 71% less than
the MGA method's under no load conditions. Additionally, compared to the ABC and MGA,
the settlement time is roughly 7 and 10 times shorter, respectively.

51. Mr. A.Kiruthika et al Worked on 2013 A sensored BLDC motor's speed control using an
intelligent controller is the main aim of this research. The motor and controller of a specific
BLDC motor are modelled mathematically. Increasing the motor's speed via fuzzy PID
control response time, and it has a massive effect on attaining highly accurate control of
BLDCM due to the motor's control characteristic being tuned.

52. Mohammed Obaid Ali et al 2011 gave us conclusion that This study employs two
methods, the Genetic Algorithm (GA) & the Artificial Immune System, to figure out the
best PID controller settings for speed control of a nonlinear brushless DC motor (AIS). In
terms of finding the least value for nine mathematical test functions, the analysis of the
simulation data demonstrated that now the Hybrid GA-AIS optimization is better. As
comparing to AIS & GA results, the hybrid AG-AIS results are outstanding.

53. Mr. Songmao Zhang et al studied a BLDC Motor on 2016. Due to its excellent
performance and low maintenance requirements, Fuzzy control and PID controllers are used
more frequently to regulate the speed of brushless DC motors (BLDCMs). The simulation
and experimental results demonstrate that the fuzzy PID control method is superior to
traditional PID control and only fuzzy control because it can control brushless DC motors
quickly, without overshoot, with high control precision, and with more robust system
parameters and interference.

54. Mr. Tayfun Gundogdu et al 2014 proposed the paper to show the algorithm's

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 effectiveness, the velocity control of a brushless DC motor (BLDCM) under both slowly
and quickly changing load situations is simulated. The PID gains were adjusted using the AI
tuning algorithm, and the simulation results using the PID adaptation process are provided
by contrasting the acquired results with an adaptive PID controller based on BPNN and a
traditional PID controller. A highly effective direct adaptation algorithm is produced by
applying the principles of AI to ANN control. The PID tuning algorithm suggested in this
research has a number of benefits, including fast computation time, low memory usage, and
high frequency response in BLDCM control applications.

55. Mr. Iraj Faraji Davoudkhani et al 2016 gave us conclusion that An intervals type-2 fuzzy
reasoning compensator (IT2FLPIDC) for brushless DC (BLDC) motor speed control is
described. It is suggested that PID gains be modified using fuzzy logic to account for
uncertainties and changing operating conditions. In this work, three different controller
types-conventional PID, type-1, & type-2 fuzzy-based self-tuning Controller design
considered. The simulation's results give that the fuzzy set PID controller performs &
responds better than the other two.

56. I Anshory et al worked on 2019 In BLDC motor speed control, identification and
implementation of a hybrid fuzzy logic & PID controller. Based on the findings of the
research, a hybrid fuzzy logic and PID controller implementation was carried out in two
stages: identification and optimization. Peak amplitude, rising time, and settling time ratio
values are 382.2, 1.25, and 382.10 respectively. While the peak amplitude and value for the
fuzzy logic controller are 402.1, the rise time is 14.6429, and the settling time is 402.0296.

57. [17.] Prof. S. Srikanth et al worked on 2012 In BLDC motor, This work presents the
modelling of a three phase BLDC motor and its GA-optimized PID position control system.
In a comparative research, the performance of the controller created using the ZN approach
and the GA-based controller are compared. The simulation results clearly show that the ZN
technique is significantly less effective than the controller performance with GA optimised
gains in terms of rise time, settling time, overshoot, and set point tracking. However, the ZN
technique works well for supplying the PID gain starting points for GA optimization.
Therefore, it can be said that GA offers an effective controller tuning mechanism for
achieving enhanced and accurate system performance.

58. Mr. Abbas K. Kadhim et al control of Brushless DC Motor Speed based on 2-DOF and
anti-windup techniques in a PID controller. The speed control of the BLDC motor is made
softer in this paper by the use of 2DOF and an anti-windup PID controller. The pattern
search algorithm is used to optimise the controller parameters. Based on the modeling
findings, the overshoot and steady state error were improved by the advanced PID controller
and nearly eliminated. In particular, it provides both mild and firm steadiness, comparable to
a regular PID controller. Filtering out acoustic and electromagnetic pollution is greatly
simplified by the PWM speed control method's ability to reach a fixed frequency.

59. Mr. K. Premkumar et al on 2015 gave us conclusion that to provide an online learning
algorithm for RBFNN is the purpose of this paper. The RBFNN is subject to the Fuzzy PID
supervised algorithm, and PID control is contrasted with it. When a PID controller, the

24 | P a g e
 speed response oscillates more and the steady state inaccuracy is greater. When compared to
PID control, the proposed controller has very little steady state error and oscillation.
According to the results, the proposed controller performs better than the PID controller
under a variety of load and set speed situations.

60. Mr. Maohua Zhang et al control speed of BLDC motor by using the single neuron PID
control approach based on the WNN. The WNN builds the BLDCM's online reference
model, determines the motor's output, and then gives the single neuron PID controller the
gradient data. The neuron controller's parameters can be improved more skillfully using
gradient information. Additionally, the single neuron PID controller can achieve adaptive
control after some training. The results of the experiment suggest that the suggested control
approach has strong robustness, high control precision, and outstanding control performance
for BLDCM.

61. Pallav Dutta et al – The Author describes as a BLDC motor drive can be efficiently
controlled with a PID controller. Many sophisticated strategies are developing in order to
enhance the PID controller's performance. Some methods, such as PSO, have already
demonstrated their efficacy in estimating the PID controller's parameters. In this article, a
new optimization technique (GWO) is used, which needs to perform than PSO technique in
terms of managing the speed of a BLDC motor. Results show that the machine settles down
quicker than the PSO-based method. The suggested approach also exhibits reduced
dampening. The ISE, IAE, ITAE, and ITSE values of the proposed analytical performance
characteristic are much enhanced by the provided method.The use of the GWO approach to
fine-tune the PID controller characteristics of BLDC motors is encouraged even though the
rise time is a little bit longer than that of the PSO technique due to other beneficial
properties in the time domain. The suggested approach could open up a new area of control
algorithm for BLDC motor driving systems.

62. R. Arulmozhiyal et al –Through this paper, the results of the simulation of a 3-phase
BLDC motor's conventional PID controller & fuzzy PID controller is presented in this
study. Adjusting the configurations as when the specified speed changes is indeed not
required in conventional PID Controller parameters. According to the simulation findings,
this is evident that perhaps the BLDC speed control utilising the fuzzy PID controller
approach outperformed the traditional Pid controller for the identical operating conditions,
especially whenever the motor was operating at both lower & higher speeds. Additionally,
even if the load changes, the motor torque must remain constant.

63. Uzair Ansari et al–The author describes as his work presents the modelling of a 3-phase
BLDC motor as well as its GA-optimized PID position control system. In an empirical
investigation, the performance of the controller created using the ZN approach and the GA-
based controller are examined. The computational outcomes clearly demonstrate that the ZN
technique is significantly less effective than the controller efficiency with GA optimised
gains in terms of rise time, settling time, overshoot, and set point tracking. Furthermore, the
ZN technique works well for supplying the PID gain starting points for GA optimization.

25 | P a g e
 Therefore, it can be said that GA offers an effective appropriate optimization mechanism for
achieving enhanced & reliable performance of the system.

64. A. Purna Chandra Rao et al - The primary aim of the author is in its superior efficiency,
greater performance in the low-speed range, large power densities, easy handling, and
reduced noise compared to certain other motors, permanent-magnet brushless dc motors are
more often utilised in high-performance applications. This work develops a mathematical
model for BLDC motors. After conducting closed loop speed control BLDC, simulation
results are shown. The outcomes of the evaluation demonstrate how valuable this modelling
is for understanding high performance driven prior to adopting a specific controller design
approach for assessing the dynamic effectiveness of the motor. Results from simulations
under various loading circumstances are displayed.

65. R. Kandiban et al -In this study,Authors describes results obtained of three different 3-
phase BLDC motor PID controllers—conventional, fuzzy, and adaptive fuzzy—are
presented. As even the reference speed changes, the control parameters in conventional PID
control do not need to be adjusted. Based on simulation results, it is evident that the BLDC
speed regulate that used the Adaptive Fuzzy PID controller methodology performed
significantly better than both the conventional PID controller and the Fuzzy PID controller
under the same operating conditions, especially whenever the motor had been operating at
lower and higher speeds. Furthermore, as the load changes, the motor speed
must stay unchanged.

66. M.V. Suganyadevi et al – The authors describes as his work presents There includes
discussion of various speed control techniques. These techniques put PI and PID controller
utilisation into practise. These models were created in MATLAB/Simulink, and outputs
were produced for a variety of parameters including output speed, electromagnetic torque,
back EMF voltages, stator phasor current, and FFT analysis. In order to determine which
strategy was the most effective among the three, various parameters were compared. The
stator current (Ia) was subjected to frequency analysis using the fundamental frequency of
50 Hz, which revealed the machine's THD. All of the controller strategies were subjected to
FFT analysis, and also the conclusions were attained.When operating at a principal
frequency of 50 Hz, the PID controller displayed a THD of 87.12%, but the PI controller
displayed a THD of 221.41%. As a result, it was demonstrated that the PID controller seems
to be the best choice among all these control strategies. The corresponding waveforms were
acquired after a total of 10 seconds of operation on the equipment. Calculations were made
for the machine's performance speed's rise & settling times.

67. Mohammed Abdelbar Shamseldin et al– The primary aim of the author is in this article,
three alternative control strategies are utilized to regulate/track speed effectively in the face
of outside disruptions and/or parameter fluctuations. PID controllers are a well-known first
technology. The evolutionary algorithm is used in the secondary controller technique to
minimise 3 different estimation methods and change the values of either the controller
settings. The third method uses a fuzzy PID, where the controller settings are continually

26 | P a g e
 adaptively modified based on the fault and the changing error to accomplish the desired
speed tracking. Results indicate that, in comparison to the other two approaches, the
suggested fuzzy PID performs better.

68. A. H. M. Zahirul Alam et al - Through this paper, In order to control the speed, this
controller uses a 3-phase BLDC motor. A PID controller that is adaptable produces good
performance analysis as an outcome. Technology has progressed enough to control BLDC
motors with adaptive PID controllers. It is important to keep in mind that while a motor
operates at up-and-down speeds, the motor speed must remain constant as the load changes
in order to for motor to be sensitive. An adaptive PID controller prototype will be created as
part of this work to regulate BLDC motors. It aids in enhancing the efficiency & speed of
BLDC motors.

69. Ahmed K. Hassan et al –In this paper, author describes With 10% of the rated torque
applied, the PID controller responds moderately. The beginning torque is 6.6 N.M., and the
settling and rising times are both extremely good. The torque ripples are 3.71%. The same
10% load above rated torque produces a decent response from of the fuzzy controller. With
such a rise time of 0.00977 seconds, which is just a hair longer than PID controller
effectiveness, but a settling time of 0.0104 seconds, which is better than PID controller
efficiency, along with a startup torque reduction of 3.1 N.M. but also torque ripple reduction
to 2.48%, we can say that the effectiveness of the entirely fuzzy controller is superior
to PID controller.Under the same 10% load above rated torque, this Neuro Fuzzy controller
responds very well. We can reach the conclusion that Neuro Fuzzy controller is superior to
Fuzzy controller due to its rise time of 0.00874 second, which is faster than Fuzzy
controller, a trying to settle time of 0.0092 second, which is slightly faster than Fuzzy
controller, a startup torque of 1.9 N.M., and slightly lower torque ripples of 2.29%. Briefly
put,we can affirm that a PID controller has a straightforward tuning procedure, a modest
response, and a good performance. Fuzzy controllers are more difficult to use, but they
function well and more steadily. The neuro fuzzy controller is an extremely complex but
high-performing controller.

70. R.G.Rajesh et al - The primary aim of the author is in this article,This research uses a PID
controller to undertake a thorough examination of a brushless DC drive system. The
simulation model, which is developed in a decentralized manner inside the
MATLAB/Simulink environment, allows for the efficient consideration of numerous
dynamic parameters, including voltage, torque of the motor, phase current, and mechanical
torque. In some cases, sensor-free controlling represents the only option, and great
performance is necessary.

71. Md Mustafa Kamal et al - In this paper, author describesthe creation of a PID controller
utilising an evolutionary algorithms is given in the current study. Both conventional and
fuzzy PID controllers been employed to research the dynamic behaviour of the BLDCM.
The assumption is that the outcomes from the traditional controller may be somewhat better.

27 | P a g e
 Results can be even better than with standard controllers while using fuzzy logic controllers.
In addition to eliminating response overshoot, the suggested GA-PID controller significantly
exhibits better improvement in relation to rise time, settling time, & peak overshoot. Thus, it
can be said that GA-PID offered a significantly improved reaction for speed
regulation of BLDCM.

72. Dr. Nirbhar Neogi et al -Inthis study uses a Hall sensor to replicate a BLDC motor with a
3-phase inverter operating in a 120 degree mode of conduction. PID & Modified PID
controllers are created and modelled for BLDC motor closed - loop system operation. The
simulation results show that using the modified PID controller reduces peak overshoot and
provides a better response in both no load and full load scenarios than PID controller. Future
Aspect: The Open loop system hardware assemblage has already been used and its dynamic
model has also been measured.The technology for the PID & Improved PID controllers is
being developed with regard to the closed - loop system. Closedloop speed control can be
accomplished using nonlinear and sophisticated controller design techniques that make use
of the sliding mode controller and feedback linearization ideas. To validate the simulink
outcome, systems are specifically designed for motor & controller configurations
might be planned.

73. P.Suganthi et al - The primary aim of the author is in this article, the PID and fuzzy based
controllers are used to simulate the speed control of BLDC motors under varied load
circumstances. Here, regulated voltage from an inverter is used to regulate the motor's
speed. For different load circumstances, a trigger gate signal is given. Employing
MATLAB/SIMULINK software, the dynamic properties such as speed, current, and back
EMF are examined under various load conditions. Whenever the proposed control is
employed in a variety of operating scenarios, simulation outcomes demonstrate
optimum performance.

74. K. Sarojini Devi et al -Through this paper, the Author’s suggested to use a PID and fuzzy
PID controller for driving. Comparing the Fuzzy PID Controller to the PID Controller, the
output is met. The suggested speed control method can be used in instead of sensored
applications since it is reliable, effective, and simple to instal. The PID is ideal for high-
performance applications in motor drives because experimental findings demonstrate that
the PID is capable of achieving the effective smoother control performance of brushless dc
motors. The motor can be used in robotics, automation systems, and fuel pump applications
because of this.

75. Adel A. El-samahy et al -The primary aim of the author is in this article to despite the
existence of external disturbances & parameter fluctuations, two alternative control
approaches are used in this research to accomplish good speed regulation/tracking. The first
method uses a fuzzy PID, whose controller parameters are continuously adaptively changed
in response to error and error change in order to accomplish the desired speed tracking. The
second method makes use of a PID compensator and model referenced adaptive control.

28 | P a g e
 Without the need for a PID compensator, MRAC performs poorly due to high overshooting
and high S.S. error. Productivity will be enhanced when PID compensator and MRAC are
combined.The effectiveness of both controllers is investigated through a number of tests.
Unexpected disturbance and characteristic changes are part of these testing. These
controllers are reliable and suited for high performance drive applications, according to
simulated data. Additionally, it is evident that MRAC performs significantly better than just
a self-tuning fuzzy PID controller, particularly for systems that are prone to
unexpected disruptions.

76. Neethu U. et al - Through this paper,Utilizing PI, PID, and fuzzy logic speed controllers,
the effectiveness of a three-phase BLDC drive system is assessed. Numerous simulations
have showed that fuzzy logic controllers outperform PI and PID controllers in relation to
efficiency. Fuzzy logic & PID control could be merged in the future, and productivity
will be assessed.

77. Akash Varshney et al -The primary aim of the author is in this article to be able to measure
the effectiveness of a BLDC drive under constant rate operation with such a PID controller
and just a fuzzy PID controller whenever the motor is accessible the majority frequent
unexpected varying load along with gradual nonlinear loads, a prototype because within this
the BLDC drive is established research utilising MATLAB and SIMULINK. If the load is
altered gradually, the BLDC drive performs well. Furthermore, it is discovered that applying
FPID improves the drive's transient responsiveness in terms of overshoot, undershoot, peak
time, and settling time. To evaluate the machine's overall behaviour under all circumstances.
Additionally, the drive's speed torque dynamic response is used. Rather than employing a
conventional PID controller, an FPID controller is employed. it has been observed that the
significant disadvantage of jerks that BLDC motors frequently face while load reduction is
decreased by 50% in cases of abrupt eliminating a load & by around 80% in cases of
progressive load departure.

78. S. Gobinath et al- Through this paper, The gain settings of a PID speed controller for such
brushless DC motor are tuned using a novel deep learning perceptron neural network
framework created in this paper that is hybridised with fuzzy system. The modelled uniform
multi-swarm particle swarm optimization was used to adjust the settings of the deep-
learning framework. The designed controller successfully adjusted the gain of a PID
controller. For the brushless DC motor with controlling model, a closed-loop stability study
using the Lyapunov stability criteria was conducted. The designed controller has been
demonstrated to be more reliable, and its performance has also been examined for no load
condition, full load condition, and variable load circumstances, and compares to certain
other controller models.In addition to the speed characteristic curve, performance metrics
for the proposed controller were also assessed. The simulated outcomes and analysis show
that the suggested speed controller, which uses a deep learning and fuzzy framework,
outperforms all other controllers that were taken into consideration for comparative. This

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 PID speed controller is a prime example of a BLDC motor drive arrangement used in
important applications.

79. Dr.Unde Mahadev G. et al - In this paper, author describes it is evident from the system's
speed responding for various controllers as displayed in the simulation results that the
settling time for the BLDC motor controlled by an ANN controller is significantly lower
than that of a PID controller. The reaction of the ANN controller is almost identical to that
of the prototype. As a result, ANN controller-based speed management of BLDC motors
produces better results than PID controller.

80. Muhammed A.Ibrahim et al - The primary aim of the author is in research to establishes
the developed PID based BLDC motor control system with GA augmentation. When
compared to the traditional approach, the designed method has substantially improved time
dynamic performance. PID parameter adjusting is typically done informally in computers. It
is effective for giving us the PID controller coefficient values at their starting point. While
the PID created using a genetic algorithm is far superior to the traditional approach in terms
of rising time, settling time, & percentage overshoot. IAE and ISE were utilized in the GA
PID-designed two productivity indices to calculate errors. The ISE criterion is
straightforward to calculate and allows for the distinction between overdamped &
underdamped systems.

S. N Approac Author Objectives Publi Outcome/Result

o. h and catio
Techniqu n/

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 e Year
1. PID Md • Low maintenance and IJAC • PID controller
controller, Mahmud compact structure. SA, provides the best
speed et al. • Functionality & 2020 performance
control,B design of the compared to other
LDC Proportional integral controller.
motor. darivative controller.
• Proportional integral
derivative regulator is
more applicable,better
operational &
effective.
2. FGPA,BL Mr. • Good operational 2012 • Regulate the motor
DC,PID. Sandeep performance. speed.
Masade et • To provide flexibility • By using field
al. of hardware design. programmable
• To provide fully gate arrays
customized achieved hardware
equipment. design flexibility,
fully customizable
peripheral set and
good operational
performance was
achieved.
3. Pid Md • To increase 2014 • The performance
controller, Mahmud performance of BLDC is increased as
fuzzy et al. motor. compare to other
logic • Low maintenance cost controller.
controller & compact structure. • This paper is
,BLDC provide an
motor. overview about the
functionality and
design of Pid
controller.
4. BLDC,A Archana • control the speed of IEEE • It gives bertter
NN,PID. Mamadpu Brushless dc motor. , result
r et al. • Give ideal value of 2019 • Controller
control parameter. response is nearly
equal to the
response of
reference model.
5. Neuro Ahmed K. • High speed and 2018 • Good response
fuzzy Hassan et compact size. with the same load
controller, al. • Contro the speed of with rated torque.
PID BLDC motor. • It give a very good
controller. • Better to use. performance.

31 | P a g e
6. Fuzzy 1P.S.Sava • Speed control of ISSN • It give higher
Logic lkar et al. Brushless Dc motor. :2347 accuracy.
Controller • Electronic - • It shows less rise
, PID commutation & longer 6982, time,low overshoot
Controller life. Jul.- and less settling
. • Higher speed rsange & 2016 time.
low maintenance.

7. BLDC,F Md • Grate performance of 2014, • Better

UZZY Mustafa motor drive. IEEE improvement in
PID. Kamal et • Fast & accurate speed term if rise time,
al. response of the settling time and
system. peak overshoot.
• It give better
response.
8. BLDC ,Pi Hayder • Less electrical noise. 2018, • Better
d Salim • High efficiency and ISCE performance of
controller, Hameed high torque. S seed control.
HIL et al.
technique.

9. Fuzzy Pid P. Hari • Longer life,low volume 2014 • Lesser overshoot

controller, Krishnan and high torque. and faster
Bldc et al. • Better control response.
mptor performance. • Regulate the control
• Control and Modeling parameters.
of BLDC motor. • It gives better
stability.

10 Adaptive Md • High efficiency,high 2020 • Speed control of

. pid Mahmud torque and low IEEE BLDC motor.
controller, et al. volume. (ICS • It helps to
pid • Adaptive PID E) developed Bldc
controller. controller model is motor speed and
done by efficiency.
SIMMULATION.
11 Self Mohamm • High performance 2014, • Achieve a good
. tuning ed BLDC motor. IEEE speed regulation.
fuzzy abdelber • Tested for both speed • It gives better
controller, shamseldi regulation & speed performance
genetic n et al. tracking. • Minimize the cost

32 | P a g e
 algorithm. • It shows better function.
performance.
12 BLDC K.Sarojini • High efficiency,high 2016, • Proposed speed
. Motor,Pid Devi et al. torque & low volume. ICA control scheme is
controller, • Speed control of CCC Robust,efficient
fuzzy pid Brushless Dc motor T and easy to
controller. using soft computing implement.
technique. • Suitable for high
performance motor
drive.
13 Fuzzy Angeti et • Best execution controls 2019, • Speed control of
. Tuned al. • High efficiency and three phase BLDC
Proportio better dynamic Motor.
nal response.. • Better speed
Integral regulation.
Derivativ
e.
14 FPGA,Fu Wang et • Simple structure,better 2012, • Improve the
. zzy Pid al. reliability & easy to IEEE response time.
control adjust. • It give fast
Algorith • Simple structure and response.
m. high control accuracy
characteristics
• Improve Brush less dc
motor reliability of
the system.
15 Adaptive Manikand • High efficiency & 2015 • Speed controller for
. Neuro- an et al. lower susceptibility. BLDC motor has
Fuzzy been presented.
inference. • It give speed
response like Rise
time,steady state
time etc.
16 Convex Chang • Improve the step • Determined simply
. set,PID Hyun Kim response . and analytically.
controller. et al. • Control the speed of • It is easy to retune
Brushlss Dc motor. the controller.
• Minimize the value
of cost function.
17 FPA(flow Motakabb • This research is stable 2020 • BLDC motor speed
. er er et al. is speed & reduce control and its
pollinatio rising time. performance.
n • Improvement of the • Output result shows
algorithm controller design. less overshoot.
),PID • Work with less
controller. noise.

33 | P a g e
18 Artificial Shukla et • Low cost of 2019 • Improved
. neural al. manufacturing. IEEE performance
network,P • Speed control of BLDC response.
ID . motor for open loop. • Overshoot,rise time
and settling time
were calculated
and compared.
19 AVR Chen xu • It makes system more 2008, • Stable
. Micro et al. flexible,durable & IEEE operation,small
controller, high performance. overshoot and fast
IPM(integ • Reduce the size. response.
rate
power
module.)

20 Speed Bassiuny • Good speed regulation 2016 • It is conventional

. control of et al. and tracking of BLDC to achieve the
High motor. contol of high
Performa performance
nce BLDC Motor.
Brushless
DC motor
21 Fuzzy Ahmad et • Reduce speed 2022 • Better and more
. PID,PID al. fluctuation and give stable speed
torque stability. performance.
• Faster processing time. • BLDC motor can
operate more
reliably.
22 Intelligent Ulasyar et • It shows robust 2018 • Control the speed of
. Speed al. performance against BLDC motor.
controller, disturbances & • It shows better
pid distruption tracking and good
controller. • Higher frequency. robustness.
23 Self Adel • Better speed vs.torque 2016 • Good speed
. tuning A.El- characteristics. regulation/tracking
fuzzy Pid samahy et • High dynamic .
controller. al. response. • High overshooting.
• Higher sped range. • Controllers are
robust and suitable
for high
performance.
24 Design Varghesee • Efficient &low cost. 2014 • speed control of
. optimizati t al. • Studied about various BLDC motor.
on,Pid speed and load • Improve the
controller. conditions. response and
performance.

34 | P a g e
 • Indicates in term of
rise time
percentage
overshoot
25 Gray M.Ezzald • Great ability to restrain 2018 • Improve the
. predictor, ean et al. the fluctuation of performance of
pid speed. BLDC motor
cobntrolle • Speed control. drive.
r. • Speed response has
short rise and
settling time.
• No over shoot and
no steady state
error.
26 Artificial R.Shanmu • To solve the problem of 2012 • Easy to implement.
. neural gasundara non • This scheme is
network( m et linearity,parameter robust and
ANN),PI al,IEEE. variations. efficient.
D • Reduce the effect of
controller. parameter variation.
27 Radial Shu • Operating principle of 2015, • Short response time
. basic Xiong et Brushless Dc motor. IEEE ad good
function, al. • Conclude transfer robustness.
Neural function model of
network. controller.
• Faster in response.
28 Neuro A.Halvaei • Speed & torque control. 2019 • It is more roust.
. fuzzy Niasar et • Speed control of • It can be used to
controller. al. Brushless Dc motor control control a
drive. wide range of
• It require less complex and non
calculation. linear system.
• To improve
controller
performance.

29 NFC, Halvaei • This controller is used • Top ikm[rove

. Niasar,et for speed and torque controller and used
al. controlof a BLDC to supervise the
Motor. learning of neutral
network.

30 Closed Biswas et • Simple control 2020 • Dynamic response

. loop al. structure and of the system will
control,ge execution. increase.
netic • It is used to regulate • Shorter response

35 | P a g e
 algorithm. velocity. time compare to
• Low maintenance conventional
&low cost. controller.

31 Wavelet Karuppan • Higher efficiency. 2021 • Effective speed

. neural nan et al. • Better speed torque regulation.
learning,s characteristics • Better speed action.
peed • Improved speed range.
control.

32 Pid Reshadat • Better speed v/s torque 2015 • High reliability

. controller, et al. characteristic. • with high
pid fuzzy • Long operating life. efficiency.
controller. • High speed range. • Low cost.
• Improves the
system response.

33 ANN Solanki et • High speed range. 2016 • Wide range of

. controller, al. operating
pid conditions.
controller. • Speed control of
motor drive.
• Modeling and
simulation of the
complete drive
system are
described.

34 Fuzzy Pid Joseph et • Improve the 2014, • This present the

. and brush al. performance of drive. IEEJ mathematical
less DC • Better method of model.
motor. controlling. • Control the speed of
BLDC motor.
35 Bldc Potnuru et • Good simulation result 2016 • Closed loop speed
. motor,Ra al. during steady state & control of a BLDC
pid transient conditions. motor.
control • Control the Brushless • Reduce the testing
prototypi Dc motor drive in real time.
ng. time is presented. • Reduces the time
and effort of
experiment.
36 Fuzzy Xiong et • Widely used in robotic 2020, • The controller

36 | P a g e
. logic al. and industrial IEEE gives superior
controller, application. feature over
ANNMR • Stability and quick conventional PID
C. response. contro
• Simple for
implementation.
37 PSO Prakash • Speed control of BLDC 2017 • The speed control
. algorithm, salawria. Motor. of BLDC motor is
PID • Long operation implemented.
controller. life,high dynamic
response & high
efficiency.
• Good speed range &
better dynamic
response.
38 Hybrid Sasongko • Best ressponse of speed 2013 • It can be made the
. PID- et al. control. rise time shorter
ANFIS • Obtain the motor but the overshoot
operating similar to increased.
speed setting. • Measure the
dynamic response
system.
39 Anti Santana et • it gives anti windup 2013, • This method is
. windup al. method for integrative IEEE simple &a very
integrativ portion of controllers. low computational
e • It gives better result cost
method,F than other traditional • It gives very good
uzzy Pid method. response.
conrol
40 PSO,PID Verma et • Steady state parameter 2018, • Improved transient
. controller al. • Performance of BLDC IEEE &steady state
Motor using PID performance.
control.. • Better tracking
ability.
41 PID Mr. • Design and 2018 • This developed
. controller, Abasin Performance of PID intelligent PID
Intelligent Ulasyar controller controller
speed etal. performs better
controller. reference tracking
& displays strong
robustness inside
the presence of an
external
disturbances.
42 FPA, PID Mr.Md • BLDC Motor speed ICC • The proposed
. controller. Mahmud control by using the CE, controller excelled

37 | P a g e
 etal. Advanced Adaptive 2021 PID & FPA
PID Controller controls in term of
smooth reference
RPM following,
lowest overshoot
(less than 1%), &
undershoot.
43 Fractiona Mr. • Speed control of 2014 • Proposed FOPID
. l Order Ameer L brushless dc motors controller
PID etal. using the Fractional improves the
Controller Order PID Controller overshoot, the
(FOPID). rising time,
settling time,
steady state error
& provides
flexibility and
robust stability.
44 Fuzzy Mr. • Fuzzy PID Controller 2014 • Performance and c
. PID S.Thamiz design for Brushless ontrol in reverse m
controller, m DC Motor ode were provided
Conventi by the fuzzy PID c
onal PID ontroller.
Controller
.
45 PI Mr. • Performance and 2021 • • Performance and
. controller, K.Sushita Comparative Analysis Comparative
PID etal. of BLDC Motor Analysis of BLDC
controller. Motor
46 Optimal Mr. Gwo- • Speed Control of IEEE • Assignment the po
. PID Ruey etal. Brushless DC Motors , les results in the w
controller, using the LQR 2004 eighting functions
Tradition approach being determined.
al PID Compared to a sta
controller. ndard PID controll
er, the efficiency o
f the ideal PID con
troller is better.
47 Conventi Mr. Jianli • Speed Control of IEEE • The proposed fuzz
. onal PID Jing etal. Brushless DC Motors , y-PID master contr
Controller using Fuzzy-PID 2016 oller both dynamic
,Conventi controller and static with exc
onal ellent results. Over
fuzzy shoot is zero, respo
controller nse is fast, and stat
ic precision is high
.

38 | P a g e
48 Autotunin Mr. • Autotuning Fuzzy PID 2021 • In testing what fast
. g PID Roedy Controller for Speed a set point can cha
controller, Kristiyon Control of BLDC nge and get a react
Fuzzy o etal. Motor ion, the average va
PID lues are 15.98% ov
Controller ershoot, 0.1625 sec
onds of rising time
, and 0.025 second
s of preset time.
49 BP Mr.Hua Ji • Neural Network PID 2009 • It is clear that the n
. neural etal. controller design for eural network PID
network, • BLDC Motor controller beats the
PID system with a tradi
controller tional PID in terms
of tracking accurac
y and robustness.
50 Modified Mr. K. • An optimal tuning of 2017 • Conclusion: Comp
. genetic Vanchinat FOPID controller ared to MGA and
algorithm han etal. using MGA, ABC and ABC-based FOPI
(MGA),Fr Bat algorithm for D controllers, the
actional- speed control of BA-based FOPID
order PID BLDC motor controllers perfor
controller, ms better and is ea
Artificial sier to use.
bee
colony
(ABC)
51 PID Mr. • Sensored Brushless IEEE • Accelerate the
. Controller A.Kiruthi DC motor speed , motor's response
, Fuzzy ka etal. control and 2013 time using fuzzy
PID mathematical PID control. This
controller modelling seems to be very
critical for
achieving BLDCM
high accuracy
control.
52 Hybrid, Mr. • Design a Hybrid 2011 • This study shows
. Genetic Mohamm Genetic-Immune PID that hybrid AG-
Algorith ed Obaid Controller for a BLDC AIS results are
m (GA), Ali etal. Motor better to AIS and
Artificial GA findings.
Immune
System
(AIS),
PID
Controller

39 | P a g e
 .
53 Fuzzy Mr. • BLDC Motor Speed IEEE • The BLDC motor
. PID Songmao Control Based- , performed best
controller, Zhang Optimized Fuzzy PID 2016 dynamic and static
PID etal. Algorithm Simulation due to fuzzy pulse
controller controller, that
also improves
speed, overshoot
suppression,
precision, and
system robustness.
54 Artificial Mr.Tayfu • Brushless DC Motor IEEJ, • The self-tuning
. neural n Self-Tuning PID 2014 PID's performance
network Gundogdu Control by Adaptive is excellent, with a
(ANN), etal. Interaction low error rate, a
Adaptive quick calculation
PID time, minimal
Controller memory usage,
and a quick
response to
frequency
adjustments.
55 Invertal Mr. Iraj • Brushless DC (BLDC) ICEE • In this study, three
. Type-2 Faraji Motor Adaptive Speed , different types for
Fuzzy Davoudkh Control Using Interval 2016 regulators are
Logic, ani etal. Type-2 Fuzzy Logic considered and
Self- compared. As per
tuning simulation data,
PID the fuzzy set
Controller PID outperforms
the other two.
56 Hybrid Mr. I • For BLDC motor 2019 • As compared to an
. fuzzy PID Robandi speed control, identify open loop system,
controller, etal. and use a hybrid fuzzy a closed loop
PID logic and PID control system has
controller controller a better speed
response.
Furthermore, if
compared, hybrid
fuzzy logic
outperform other
PID controllers.
57 Ziegler- Mr. Prof. • With the help of IEEE • We can deduce
. Nichols S.Srikanth Genetic Algorithm , from in this paper's
method, etal. Modeling and PID 2012 results that GA
Genetic Control of the offers an useful

40 | P a g e
 Algorith Brushless DC ideal control
m, PID • Motor methodology for
controller improving a
system's accuracy
and performance.
58 Two Mr.Abbas • PID-Based Brushless • In this study, we
. Degree K etal. DC Motor Speed found that the
Of Control with 2-DOF overshoot &
Freedom and Anti-Windup steady state error
(2DOF), Methods are reduced and
Anti- nearly eliminated
windup by the advanced
technique, PID controller.
Generaliz
ed pattern
search
(GPS).
59 Radial Mr.K. • Analyzing Dynamic 2015 • RBFNN has a high
. Basis Premkum Speed Response for steady state error
Function ar etal. BLDC Motor and produces
Neural greater oscillation
Network in the speed
(RBFNN) response.
,Fuzzy
PID
controller,
PID
controller
60 Single Mr.Maoh • Speed control using a IEEE • The single neuron
. Neuron ua Zhang single neuron , PID method has
PID, etal. proportional integral 2007 high control
Wavelet derivative. precision, superb
Neural static and dynamic
Network. performance, and
strong robustness,
and it provides
excellent control
performance.
61 Practical Pallav Dut • JEET • The most cost-
. swarm ta etal. , effective option for
optimizati Janua a BLDC motor
on,Pid ry drive is a PID
controller, 2021 controller. Many
BLDC innovative
motor. strategies are
developing in

41 | P a g e
 order to enhance
the PID
controller's
performance.
62 BLDC R. • For performance comp (ICC • For a 3-phase
. motor,Pid Arulmozh arison of standard and CI- BLDC motor,
controller, iyal etal. fuzzy PID controllers 2012 there are two types
Fuzzy pid Using a standard, tradi ) of PID controllers:
controller. tional PID controller standard and
makes itchallenging to fuzzy.
finetune the parameter • As the reference
s & obtain satisfactory speed changes, the
control characteristics. control parameters
in conventional
PID control do not
need to be
adjusted.
Genetic Uzair • For achieving a ICM • The enhancement
algorithm, Ansari system's increased and S, of the PID position
Pulse etal. precise functioning. 2011 control scheme for
width a 3-phase BLDC
modulatio motor using GA is
n,Pid described.
control.
63 BLDC A. Purna • Controllable design ARP • Due to its greater
. motor,Pid Chandra idea for assessing the N, efficiency, greater
controller. Rao etal. motor's dynamic 2012 torque in the low-
characteristics. speed range, high
power density,
durability, and
reduced noise
compared to other
motors.
• permanent-magnet
brushless dc
motors are more
often utilised in
high-performance
applications.
64 Fuzzy R.Kandib • For order to control ICM • This research
. controller, an etal. the speed of the OC, recommended an
Adaptive BLDCM, this research 2012 optimized fuzzy
fuzzy pid suggested an enhanced PID controller to
controller. proposed fuzzy PID maintain the speed
controller. Some of the BLDCM.
analysis of the • This report

42 | P a g e
 efficiency of introduces some
traditional PID evaluation of the
controllers, fuzzy PID performance of
controllers, and suggested fuzzy
proposed fuzzy PID PID controllers,
controllers is given in fuzzy PID
this study. controllers, &
• Using a standard, classic PID
traditional PID controllers.
controller makes it • To smooth the
challenging to fine- characteristics and
tune the parameters achieve acceptable
and obtain satisfactory control
control characteristics. characteristics, a
Because it is simple to classic, standard
compute and contains PID controller is
the ability to satisfy required.
control criteria, • The proposed
proposed fuzzy fuzzy systems are
systems. easy to compute
• The simulation results and have the
indicated that such a capacity to satisfy
proposed fuzzy PID control criteria.
controller outperforms • According to the
both fuzzy & simulation results,
conventional PID the suggested
controllers in terms of fuzzy PID
controllability. controller is more
efficient in terms
of controllability
than either of the
fuzzy &
conventional PID
controllers.
65 BLDC S. Usha • Brushless dc motors IJPE • When operating at
. motor,PI etal. are utilized to produce DS, a fundamental freq
D a more dependable 2021 uency of 50 Hz, th
Controller and quieter operation. e PID controller di
. Different approaches splayed a THD of
to speed regulation are 87.12%, but the PI
studied in the controller displaye
suggested work. d a THD of 221.41
• Numerous ways are %.
employed to obtain the • As a result, it was
traction control demonstrated that t
singularities when a he PID controller i

43 | P a g e
 BLDC motor's speed s the best choice a
control is submitted in mongthese control
real time. methods.
66 Pid Md. • In order to make the ro REM • In order to
. controller, Abdelbar tor follow a chosen sp , accomplish a
self Shamseldi eed/position track, it is 2014 decent speed
tunning n etal. intended to verify each regulation/tracking
fuzzy pid control method's capac irrespectively of
controller, ity to do so. the existence of
Genetic • Regardless of paramet external
algorithm. er modifications, this disturbances.
objective should be att • Parameters,
ained. fluctuations, three
alternative control
strategies are
employed in this
research.
67 Adaptive Md • This work proposes a IEEE • In order to regulate
. PID Mahmud closed-loop PID and f , the speed, this
Controller etal. uzzy PID controller fo 2020 controller employs
,BLDC r BLDC drive speed c a 3-phase BLDC
motor. ontrol. motor.
• When comparison to a • A PID controller
PID controller, the fuz that is adaptable
zy PID controller prod produces good
uces the desired output simulation results
. as an outcome.
• Instead of using sensor • Technology has
ed applications, the re progressed enough
commended speed con to operate BLDC
trol technique is reliab motors with
le, effective, and simpl adaptive PID
e to apply. controllers.
• According to experim • It is important to
ental findings, the PID keep in mind that
is successful at achievi when a motor
ng smooth speed and t operates at up-and-
orque of brushless dc down speeds, the
motors, making it an e motor speed
xcellent option for ele should remain
vated applications inv constant as the
olving motor drives. load changes in
order is for motor
to just be reactive.
• An adaptive PID
controller

44 | P a g e

68 BLDC Ahmed K. • Our goal of this study IJCA
. motor,Fuz Hassan aims to employ PID, , vide a straightforw
zy pid etal. fuzzy logic, and neuro 2018
controller, fuzzy controllers to
Neuro regulate the rpm of
fuzzy such a brushless dc
controller. motor.
• There have numerous
characteristics that are
used to evaluate
whichever controller
seems to be the best to
utilise based on these
various control
approaches that are
utilized to control
speed.
69 BLDC R.G.Rajes • There has been a persi IJAR
. Controller h etal. stent tendency to sugg EEIE
,Fuzzy est better control strate , undertake a thorou
PID,PID gies to increase the eff 2014
controller. ectiveness of the moto
r because the benefits
of BLDC motors outw
eigh their drawback.
• Obtaining a precise an
d ripple-free immediat
e torque is crucial for
BLDC motors because
smooth torque is neces
sary for high performa
nce motion control ap
plications. By combini
ng trapezoidal voltage
pulses with both the sp
ecified operating point
, the Bldc motor is pro
45 | P a g e
prototype will be
created as part of
this work to
regulate BLDC
motors. It aids in
enhancing the
effectiveness and
speed of BLDC
motors.
• PID controllers pro
ard tuning process
as well as a simple
reaction and efficie
ncy range.
• Although fuzzy co
ntrollers are more
complex, they wor
k well and more st
eadily.
• A very complex co
ntroller with impre
ssive showing is th
e neuro fuzzy cont
roller.
• This research uses
a PID controller to
gh examination of
a brushless DC dri
ve system.
• The prototype, whi
ch is developed in
a modular fashion
inside the MATLA
B/Simulink platfor
m, allows for the e
fficient considerati
on of numerous dy
namic parameters,
including voltage,
rotor speed, phase
current, and mecha
nical torque.
• In some cases, sen
 pelled.
• To get the highest torq
ue, the angles between
both the fluxes of the s
tator as well as the rot
or should be stayed cl
ose to 120 degree.
• This can only be achie
ved by properly aligni
ng the voltage strokes
here between phases.
70 GA Md • Due to their various IEEE
. Pid,Fuzzy Mustafa benefits over ,
pid,Gain Kamal traditional DC motors, 2014
parameter etal. brushless DC motors
. are frequently
employed in servo
motor applications.
• Excellent performance
motor drives, on the
other hand, necessitate
a system's rapid and
precise speed
response, at certain
recovery from any
disruption, and
responsiveness to
motor parametric
variations.
• Different controllers
are frequently
employed in industrial
applications to drive
the motor at the
correct reference
speed.
• The PID controller
parameters for BLDC
motor speed control
are tuned in the
current work using an
evolutionary
algorithm-based PID
controller. GA-PI and
GA-PID controller
tuning and gain
46 | P a g e
sor-free controllin
g represents the on
ly option, and exce
llent result isneces
sary.
• The configuration
of a PID controller
utilising an
evolutionary
algorithms is given
in the current
study.
• Both conventional
and fuzzy PID
controllers have
been employed to
study the dynamic
behaviour of the
BLDCM.
• It has been
discovered that the
outcomes from the
traditional
controller may be
somewhat better.
• Research findings
may be even
improved than
with standard
controllers while
using fuzzy logic
controllers.
• In addition to
eliminating
response
overshoot, the
suggested GA-PID
controller also
demonstrates
excellent
 prediction are done improvement in
using the Ziegler- terms of rise time,
Nicholas tuning settling time, and
formula. peak overshoot.
• A reliable • Thus, it can be
optimization approach said that GA-PID
built on natural offered a
selection is the genetic significantly
algorithm. improved feedback
for the speed
regulation of
BLDCM.
71 BLDC Brajesh • This research provides IJEEI • The 120 degree
. motor,Mo Kumar a simulation , mode of conducts
dified etal. framework for a 2017 for a BLDC motor
PID. BLDC motor's closed- with such a 3-
loop speed and torque phase inverter has
using a PID and been modelled in
modified PID this research
controller. utilising a Hall
• The novel aspect of sensor.
this research lies not • The controllers
only in the reduction (PID & Modified
of the initially PID) are created
overshoot as well as and modelled for
the application of a BLDC motor
revised PID controller closed - loop
which can locate the system operating
reference trajectory condition.
under both load and • The simulation
without load. outcomes
• The simulation demonstrate that
includes each and perhaps the
every realistic motor modified PID
characteristic and controller reduces
component. peak overshoot
• The 3-phase inverter's and outperforms
control scheme and than PID controller
analysis are carried for both no load
out using MATLAB and full load
Simulink. circumstances.
• In closed-loop
controls, PID and
Adapted PID
controllers analyse the
rated speed just as

47 | P a g e
 well as they would
without load changes,
but still the classic
PID's drawback is
evident in its
pronounced
divergence in the
closed-loop system
dynamic response.
72 BLDC P.Suganth • The traditional PID IEEE • Through
. motor,Fuz etal. controller & fuzzy , simulation
zy logic logic controller are 2017 employing a PID
controller, utilized in this and fuzzy based
PID suggested approach to controller, the
controller. stabilise the system. speed regulation of
• Sugeno and mamdani a BLDC motor
are the two distinct under various load
types of fuzzification situations is tested
techniques, and the in this work.
mamdani approach of • Here, the motor
tuning is the best. speed is managed
• Gate signal for BLDC by a regulated
motor is delivered as voltage that comes
angle value of theta. from an inverter.
• To identify the • Different load
mistake that is directly situations result in
supplied to the BLDC different trigger
motor to obtain the gate signals.
desired output speed, During various
the feedback load conditions,
controllers are the dynamics of
intrinsically linked to the speed, current,
the inverter. and back EMF are
examined.
73 BLDC,Fu K. • Unwanted overshoot, ICA • This work
. zzy,Pid Sarojini prolonged settling tim CCC proposes a closed-
controller, Devi etal es, & vibrations. T, loop PID and
Pid etal. • When switching betwe 2016 fuzzy PID
controller. en states are all issues controller for
with control systems. BLDC drive speed
PID and self-tuning ca control.
n minimize the maxim • When compared to
um overshoot and prol a PID controller,
ong settling times. the fuzzy PID
• The closed - loop syst controller
em controller architect produces the

48 | P a g e
 ure employed fuzzy PI
D control methods.
74 MRAC,PI Adel A. • Examines overall outc ASEJ
. D El- omes of two different ,
controller. samahy operational strategies 2016
etal. utilized with a elevate
d BLDC motor.
• The model-reference
adaptive control
(MRAC) with a Propo
tional Intergral
Derivative
(PID) compensator is i
ndeed the secondary
approach ,while the
initial one is a self-
tuning fuzzy PID
controller.
• Their
controlling algorithm'
s purpose has been
to consistently & accu
rately impose the
speed & torque to
approach
the intended rated spee
d.
desired output.
Instead of using
sensors
applications, the
recommended
speed control
technique is
reliable, effective,
and simple to
apply.
• According to
experimental
findings, the PID
is successful at
achieving smooth
speed and torque
of brushless dc
motors, making it
a good choice for
elevated motor
drive applications.
• Despite the existen
ce of external distu
rbances and param
eter fluctuations, t
wo alternative cont
rol approaches are
used in this researc
h to accomplish go
od speed regulatio
n/tracking.
• The first method u
ses a fuzzy PID, w
hose controller par
ameters are contin
uously adaptively
changed in respons
e to error and error
change in order to
accomplish the des
ired speed tracking
.
• The second metho
d makes use of a P
ID compensator an
d model reference

49 | P a g e
 adaptive control.
• Without a PID co
mpensator, MRAC
performs poorly du
e to high overshoot
ing and high S.S. e
rror.
• Performance will b
e enhanced when P
ID compensator an
d MRAC are comb
ined.
75 BLDC Neethu U. • The effectiveness of th IEEE • A three-phase
. motor,fuz etal. e controllers is evaluat , BLDC drive
zy logic. ed using a constructed 2012 system's efficiency
analytical solution of t using PI, PID, and
he BLDC motor. fuzzy logic speed
• To begin with, a PI co controllers is
ntroller is created to re assessed.
gulate the speed of the • Numerous
selected BLDC motor. simulations are
• The performance of th used to
e BLDC motor is then demonstrate that
confirmed before the c controllers using
ontroller is updated to fuzzy logic
PID. Later, a fuzzy log perform much
ic-based controller for better than PI and
speed regulation of the PID controllers.
specified BLDC motor • In the future, fuzzy
is built. logic and PID
control may be
merged, and
effectiveness may
be assessed.
76 BLDC,PI Akash • Effectiveness of a JESI • This study
. D Varshney BLDC motor T, develops a
controller, a etal. delivering various 2016 simulation for a
Fuzzy loads while Brushless dc drive
controller. simultaneously using utilizing
various control MATLAB
strategies. & SIMULINK to
• A sophisticated Fuzzy examine how well
PID controller and a it performs
PID controller that is including a PID
often used are controller and a
compared. fuzzy PID

50 | P a g e
 • The load fluctuations controller
taken into • Whenever the
consideration are motor experiences
some of the most the most typical
typical ones that are rapid load
typically seen in variations along
practise. with steady load
• changes while
operating with
steady speed.
• By progressively
altering the load,
the BLDC drive
performed best.
77 BLDC S. • Stability analysis & 2019 • In order to adjust
. motor,Fuz Gobinath performance the operating point
zy etal. requirements of Bldc of the PID speed
system,PI motor. controller for such
D control. • The multi-layer brushless DC
perceptron network is motor, an unique
the target of the deep- supervised neural
learning architecture, perceptron neural
and the system of network
fuzzy inference framework
regulations are hybridised with
activated by the neural fuzzy system is
component's output. designed in this
research.
• The modelled
unified multi-
swarm particle
swarm optimizer
was used to
optimise the
machine learning
framework's
characteristics.
• The designed
controller
successfully
adjusted the PID
controller's gain
parameters.
Closed-loop
stability study was
performed for the

51 | P a g e
 brushless DC
motor with both
the controller
design using the
Lyapunov stability
criterion.
• This new control
has been
demonstrated to be
better reliable, and
in order to
evaluate it to
existing controller
models, its
effectiveness has
also been
examined for no-
load, full-load, and
fluctuating load
circumstances.
78 BLDC,A 1. • This paper's main goal IEEE • It is evident from t
. NN,PID. Archana is to use a PID controll , he system's speed r
Mamadap er and an artificial neu 2019 esponse for variou
ur etal. ral network (ANN) co s controllers as dis
ntroller to regulate the played in the simul
speed of a Brushless ation results that th
Dc motor. e settling time for
a BLDC motor con
trolled by an ANN
controller is signifi
cantly less than tha
t of a PID controlle
r.
• The response of th
e ANN controller i
s almost identical t
o that of the refere
nce model.
• As a result, ANN c
ontroller-based spe
ed management of
BLDC motors pro
duces better results
than PID controller
.
79 Pid Muhamm • To create a BLDC mot IJPE • This research estab

52 | P a g e
. controller, ed or speed controller wit DS,
Genetic A.Ibrahim h the best design possi 2019
algorithm. 1 etal. ble using evolutionary
algorithms (GA).
• The PID factor ideals
are sought using the o
ptimization approach.
METHODOLOGY
53 | P a g e
lishes the develope
d PID for BLDC m
otor control system
with GA augmenta
tion.
• When compared to
the traditional appr
oach, the proposed
controller has subs
tantially improved
time response char
acteristics.
• PID parameter tun
ing is typically don
e informally in co
mputers.
BRUSHLESS DIRECT CURRENT MOTOR & SPEED CONTROL SYSTEM

A. SPEED CONTROL SYSTEM

A BLDC motor must be operated and its speed must be controlled by a controller circuit.
Numerous different speed control systems have been devised for controllers, however the speed
controllers themselves must evolve with time. They are often characterized as closed loop contr
ol systems & open loop systems, respectively. High precision control systems employ closed lo
op approaches. Two closed loop systems are utilized in the BrushLess dc motor speed controller
block diagram in Fig. 2. In this instance, its external loop is utilised to regulate the speed
while the internal loop serves as tuning and power supply polarity sensing[8],[9].

B. THE BACK ELECTRO MOTIVE FORCE (BEMF)

Six electronic switches (power transistors) are often used by a 3-phase BLDC motor to provide
3-phase voltage simultaneously for a full-bridge design power converter. The switching order
will be determined by the position of the rotors on the transistors. In the majority of cases, 3 hall
sensor devices are used to monitor the motor starter. The decoder block uses the information
from the hall sensors to create a vector with reference current signal that indicates the sign of
the back electromotive force (BEMF). Changing the current in the opposite direction or the
controller's switching sequence will cause the motor to run in the opposite direction.

Table I lists the decoder sequences for such MATLAB simulation circuit diagram to creating the back
EMF of a decoder.

Supply to motor BLDC

ωr PID MOTOR
INVERTER
CONTROLLER

ωm TRIGERING
SIGNAL

HALL EFFECT POSITION

SENDSOR SENSOR

Inner loop
Outer loop

Fig 3. Block Diagram of BLDC Motor Speed Controller

54 | P a g e
 Fig.4 Back EMF of Decoder for MATLAB Drive

TABLE 1. TRUTH TABLE FOR DECODER

TRUTH TABLE
Table 1.
ha Hb hc emf_a emf_b emf_c
0 0 0 0 0 0
0 0 1 0 -1 1
0 1 0 -1 1 0
0 1 1 -1 0 1

1 0 0 1 0 -1

1 0 1 1 -1 0

1 1 0 0 1 -1

1 1 1 0 0 0

Similar to Fig. 5, Table II displays the decoder sequences for the proposed 3-phase PID's functional
block diagram for MATLAB simulation. controller for the counterclockwise rotation
of the BLDC motor.

55 | P a g e
 Fig 5. Inverter Switching for MATLAB Drive

TABLE II. TRUTH TABLE FOR INVERTER SWITCHING

TRUTH TABLE FOR INVERTER SWITCHING

Table II.
emf_a emf_b emf_c Q1 Q2 Q3 Q4 Q5 Q6
0 0 0 0 0 0 0 0 0

0 -1 +1 0 0 0 1 1 0

-1 +1 0 0 1 1 0 0 0

-1 0 +1 0 1 0 0 1 0

+1 0 -1 1 0 0 0 0 1

+1 -1 0 1 0 0 1 0 0

0 +1 -1 0 0 1 0 0 1

0 0 0 0 0 0 0 0 0

56 | P a g e
 PROPOSD PID CONTROLLER DESCRIPTION

It is crucial to employ a controller circuit to improve the performance of DC motors. A number

of controller circuits & algorithms are employed for this. The PID controller, however, is the
one for a BLDC motor that is most appropriate of the bunch. Three circuit blocks, known as the
proportional, integral, and derivative blocks, make up the majority of the PID controller. As
their names indicate, each circuit block is utilised to carry out various mathematical calculations
.The suggested controller for a threephase brushless DC motor's full MATLAB design is seen in
Figure 5. The interconnections between the motor, reference source, PID controller, driver
circuit, sensors, converter circuit, and inverter circuit are all clearly depicted in the diagram.

The PID controller's fundamental frequency transferring capabilities, G(s), can be

expressed by (1) & (2),

G(s) = Kp + Ki /s +Kd s ……………. (1)

G(s) = (Kd s2 + Kp s + Ki)/s .……………..(2)

Where, Kp = proportional gain coefficient,

Ki = integral gain coefficient,
Kd = derivative gain coefficient and
s = complex frequency

The controller's time derivatives output U(t) for controlling the plant is represented by Kp times
the size of the error pulse, Kd times the derivatives of the function of time error signal e(t), and
Ki times the integral (3). The controller's time derivatives output U(t) for controlling the plant is
represented by Kp times the size of the error pulse, Kd times the derivatives of the function of
time error signal e(t), and Ki times the integral (3). The controller's time derivatives output U(t)
for controlling the plant is represented by Kp times the size of the error pulse, Kd times the
derivatives of the function of time error signal e(t), and Ki times the integral.

U(t) = Kp e(t) + Ki ∫e(t)dt + Kd de(t)/dt …………… (3)

57 | P a g e
 Fig 6. Complete MATLAB Design of Controller for BLDC Motor

It should have a wide range of uses because to its efficiency and outstanding performance,
which regularly reaches 95%.A closed loop PID have generally been used in industrial
applications. The four crucial factors of settling time, overshoot, steady-state error, & response
time are most closely related to how the closed-loop step is responded to.
Table III displays the values of the PID controller settings that were used for this design.

TABLE III. VALUES OF THE PID CONTROLLER PARAMETERS

Values of the Controller

PID Parameters
Table III
Method KP Ki Kd

PID 100 0.5 500

EXPECTED RESULT AND DISCUSSION

58 | P a g e
Fig.7 shows how well the recommended PID controller performs when used with a brushless
DC motor operating at 2500 rpm. The BLDC motor's speed without a load was depicted in this
diagram by the time in seconds (sec) on the Y axis and the rpm scale on the X axis. The
controller settles, based on the graph, in around 0.018 seconds with very minimal overshoot and
undershoot. The motor operates for 0.018 seconds at a constant speed of 2500 rpm.

The performance of the BLDC motor without a load is shown in Figure 8 as the output torque
response. Seconds (sec) of time and the electromagnetic field were shown on the X and Y axes
of this graphic. The BLDC motor's torque in Newton-meters when there is no load (Nm). The
electromagnetic torque (Nm) of the motor may be seen in the image fixing itself after
around 0.030 seconds.

CONCLUSION

59 | P a g e
This research uses a PID controller to undertake a thorough examination of a brushless DC
drive system. Many dynamic factors, including voltage, rotor speed, phase current, and
mechanical torque, may be efficiently taken into account by the simulation model because it is
developed in a modular fashion under the MATLAB/Simulink environment. In some cases,
sensor-free control is the only option, and great performance is necessary.

REFERENCES

60 | P a g e
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