Neural Comput & Applic
DOI 10.1007/s00521-016-2652-6
ORIGINAL ARTICLE
Novel bacterial foraging-based ANFIS for speed control of matrix
converter-fed industrial BLDC motors operated under low speed
and high torque
T. S. Sivarani1 • S. Joseph Jawhar1 • C. Agees Kumar1 • K. Prem kumar2
Received: 17 August 2015 / Accepted: 24 October 2016
 The Natural Computing Applications Forum 2016
Abstract In this paper, a novel adaptive neuro-fuzzy infer-
ence system (ANFIS)-based control technique optimized by
Bacterial Foraging Optimization Algorithm for speed control
of matrix converter (MC)-fed brushless direct current
(BLDC) motor is presented. ANFIS is considered to be one of
the most promising technologies for control of electrical
drives fed by MC. Optimizing the training parameters of
ANFIS, to improve its performance, is still being considered
by several researchers recently. Parameters of the online
ANFIS controller such as learning rate (g), forgetting factor
(k) and steepest descent momentum constant (a) are opti-
mized by using the proposed algorithm. For the purpose of
comparison, proportional integral derivative controller, fuzzy
logic controller, PSO-ANFIS and BAT-ANFIS are consid-
ered. Set point tracking performances of the proposed system
are carried out at various operating points for an industrial
BLDC motor operating at a maximum rated speed of
380 rpm and torque of 6.4 N m. Time domain specifications
such as rise time, settling time, peak time, steady-state error
and peak overshoot in the presence and absence of load tor-
que disturbances are presented. Time integral performance
measures such as integral square error, integral absolute
error, and integral time multiplied absolute error are analyzed
for various operating conditions. Speed fluctuation in the
output of BLDC motor is dependent on the source current
harmonics of the inverter/converter. To illustrate this, total
harmonic distortion (THD) analysis is carried out for the
& T. S. Sivarani
sivaranits@yahoo.co.in
1
Department of EEE, Arunachala College of Engineering for
Women, Manavilai, Vellichanthai, Tamil Nadu 629203, India
2
Department of EEE, Rajalakshmi Engineering College,
Chennai, Tamil Nadu, India
existing PWM inverter and the proposed MC, and it is proved
that MC results in reduced THD, as compared to PWM
inverter. Simulation results confirm that the proposed con-
troller outperforms the other existing control techniques
under various set speed and torque conditions. Statistical
analysis is effectively carried out to prove the effectiveness of
the proposed controller. Experimental analysis is performed
to validate the performance of the proposed control scheme.
Keywords Brushless direct current motor  Fuzzy logic
controller  Bacterial foraging optimization algorithm 
Adaptive neuro-fuzzy inference system  Particle swarm
optimization  Bat algorithm  Matrix converter  Total
harmonic distortion  Speed control  Statistical measures
1 Introduction
In the present scenario, BLDC motors are mostly preferred
for their efficiency, reliability, noiseless operation and less
weight, as compared to other brushed motors with the same
power output. They are free from sparking and hence
require less maintenance and provide better speed control.
They are found to be more suitable for high-speed indus-
trial applications [1]. Normally, BLDC motors are driven
from Pulse Width Modulation (PWM) inverters [2–4] and
hence suffer from disadvantages such as filter requirements
and poor quality waveforms. Compared with PWM
inverters, MC has desirable features such as sinusoidal
input and output current, lack of DC link elements,
regenerative capability and more specifically the reduction
in input current harmonics [5, 6].
Matrix converter improves the quality in the electrical
side such as harmonics of the current and regeneration
capability. In order to enhance the quality in the mechanical
123

side such as speed tracking and the disturbance rejection
capability due to sudden load change, suitable speed con-
troller is to be designed for the system, as the speed tracking
and disturbance rejection capability relies on the perfor-
mance of the speed controller. In the last decades, various
types of speed control techniques have been incorporated for
the control of BLDC motor based on the conventional and
intelligent control techniques [7–22]. The literature survey
relevant to the research is given as follows: Proportional
integral-based speed controller has been demonstrated for
the speed control of BLDC motor in [7]. Brushless DC
motor has been controlled using proportional integral con-
troller along with steady-state reference current determina-
tion techniques in [8]. But, the structure of the controller is
complex, and the computation overloading is very high. In
[9], the speed control of BLDC motor has been performed
using Cerebellar Model Articulation Controller (CMAC)
and PID controller. Speed response of the motor exhibits
high overshoot and large steady-state error, due to the offline
training of CMAC controller. As stated in the above litera-
ture [7–9], the most preferable controller is the PID con-
troller, but it has certain drawbacks, i.e., the mathematical
model of system has to be developed, and the parameters of
the PID controller need to be tuned manually, in accordance
with the operating conditions of the system and thus
becomes a time-consuming process.
Later, a few intelligent control techniques such as fuzzy
logic, neural networks and ANFIS were introduced to over-
come the drawbacks inherent in the conventional control
methods [10–13]. In [10], hybrid fuzzy control strategy has
been developed for the speed control of BLDC motor, where
the fuzzy logic controller is combined with conventional
controller. Switching takes place between both the controllers
based on the operating conditions of the system. PI controller
performs the control action during normal operating condi-
tions and fuzzy logic controller during the oscillatory oper-
ating conditions. Thus, the system needs additional sensor for
measuring the status of the operating conditions. Moreover,
the control effort generated from the controller has more
undesirable oscillations and thus leads to an unstable system.
In [11], adaptive neuro-fuzzy inference system-based speed
control technique has been introduced for BLDC motor.
ANFIS controller has been trained offline. The training of the
controller requires a large amount of representative input–
output data. Hybrid PID-ANFIS-based speed controller has
been developed for BLDC motor [12, 13]. Two types of
strategies have been adopted, one is summing the control
effort of the both controllers, and the other is selecting the
controller based on the rate of change of speed error. The
control effort of the controller was high, as the two controller
outputs are summed, and it leads to the saturation effect on the
system. The performance of the selection method depends on
the ability to determine the rate of change speed error and is
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Neural Comput & Applic
determined by trial and error method. Moreover, the ANFIS
controller was trained in offline mode. In order to overcome
the problem of offline training of ANFIS controller, online
training of ANFIS controller has been developed for the speed
control of BLDC motor [14]. Moreover, online training has
some drawbacks, i.e., the free learning parameters of the
ANFIS controller [learning rate (g), forgetting factor (k) and
steepest descent momentum constant (a)] are fixed for all the
operating conditions. If the operating conditions of the BLDC
motor changes regularly, it degrades the time domain speci-
fication of the speed response and thus affects the system
performance. In order to overcome this, the free learning
parameters have been optimized based on the operating con-
dition of the BLDC motor. For the purpose of optimization,
various techniques such as genetic algorithms (GA) [15],
particle swarm optimization (PSO)-based PID controller
[16, 17] and ant colony optimization (ACO) [18] have been
developed to optimize the parameters of various controllers.
BFOA for speed control of BLDC motor was proposed in [19],
and the performance of BFOA is found to be better than other
optimization algorithms. Later, the intelligent techniques
were merged with optimization techniques to improve the
overall control performance [20, 21]. GA-PSO-based ANFIS
[20] and bat algorithm optimized fuzzy PID supervised
ANFIS [21] are proposed for speed control of PWM inverter-
fed BLDC motor drives.
Speed control of MC-fed BLDC motor has been studied
by several researchers recently. A novel topology for MC-
fed BLDC motor is developed [5]. Torque ripple mini-
mization strategies for the same system were developed to
minimize the ripple content [6]. Conventional controllers
such as PI and intelligent fuzzy logic controller (FLC) have
been developed for MC-fed BLDC motor. It is proved that
FLC exhibits better performance than PI controller [22].
In the literature [5, 6, 22], speed response of the BLDC
motor exhibits large overshoot, high rise time, settling time
and steady-state error. It is evident that the time domain
specifications of the output speed response, i.e., rise time,
over shoot and steady-state error, were not met using
matrix converter-fed BLDC motor in the existing literature.
To enhance the time domain specifications, this paper
proposes a Bacterial Foraging optimization algorithm-
based online ANFIS controller for better speed control of
low-speed and high-torque BLDC motors. This paper
addresses the following issues more effectively.
1. Novel BFOA-based online ANFIS controller is
designed for low-speed, high-torque applications,
whereas the existing control schemes are designed
for high-speed, low-torque applications as in [22].
2. Proposed topology deals with MC-fed BLDC motor,
while most of the existing techniques deals with PWM
inverter-fed BLDC motor as in [2] and [4].
Neural Comput & Applic

3. Advantage of using MC in this research is to reduce 2 Mathematical modeling

the input current harmonics. To validate this, THD
analysis is performed. Mathematical modeling of BLDC Motor and MC is devel-
4. Most of the industries use three-phase supply that can oped to describe the dynamics of the system under study.
be directly used with MC, whereas in the case of PWM
inverter, additional DC source (introduces input har- 2.1 BLDC motor
monics) is required.
5. Among the intelligent techniques, ANFIS is con- All the stator phase windings are assumed to have equal
sidered as the most promising technique for control resistance per phase and constant self-inductances and
[20]. Moreover, BFOA is proved to be a better mutual inductances, iron loss is negligible. Motor flux is
technique for solving various optimization problems unsaturated, and power semiconductor devices are ideal.
[19]. Therefore, novel BFOA-based online ANFIS The following equations that describe the system behavior
controller is proposed in this research to improve can be represented as,
the time domain specifications under various oper- dia 1
ating conditions, compared to the existing tech- ¼ ½Ria þ Va  ea  ð1Þ
dt LM
niques [21].
dib 1
6. Set point tracking performances under various set ¼ ½Rib þ Vb  eb  ð2Þ
speed conditions and load torque disturbances are dt LM
studied to demonstrate the effectiveness of the pro- dic 1
¼ ½Ric þ Vc  ec  ð3Þ
posed algorithm. dt LM
7. Statistical analysis is carried out to prove that BFOA- dxr 1
based online ANFIS is superior over PSO optimized ¼  ½Bxr þ TL  ð4Þ
dt J
online ANFIS controller and BAT optimized online dhr P
ANFIS [21]. ¼ xr ð5Þ
dt 2
The paper highlighting the proposed research is orga- where Va ; Vb ; Vc is the phase voltages in Volts, ia ; ib ; ic is the
nized as follows: phase currents in Amps, ea ; eb ; ec is the back emf in Volts, L is
Section 2 gives a detailed study about the mathematical the self-inductance of the motor winding, M is the mutual
modeling of BLDC motor and matrix converter. Section 3 inductances between stator windings, P is the number of poles
presents the block diagram of the proposed system with of the rotor, hr is the rotor position of the rotor, T and TL are the
relevant explanations and presents the structure of online electrical and load torque, respectively, xr is the angular
ANFIS. It also deals with the novel BFOA-based ANFIS velocity, J is the rotor inertia, B is the friction constant.
algorithm and tuning of learning parameters of the online Equations (1–5) can be combined and collectively
ANFIS controller. Section 4 introduces the simulation expressed as
results performed using MATLAB/SIMULINK along with
d     
relevant discussions. Experimental analyses along with ½ia ib ic xr hr T ¼ A  ½ia ib ic xr hr T þ B  ½Va Vb Vc TL T
detailed discussions are presented in Sect. 5. Finally, the dt  
concluding remarks and suggestions for further research þ C  ½ea eb ec T ð6Þ
are given in Sect. 6.
where

2 R 3 2 3
0 0 0 0 1 2 3
6 LM 7 0 0 0 7 1
6 7 6 LM 0 0
6 R 7 6 7 6 LM 7
6 0 0 0 0 7 6 1 7 6 7
6 LM 7 6 0 0 0 7 6 1 7
6 7 6 LM 7 6 0 0 7
6 R 7 6 7 6 LM 7
A¼6 0 0 0 0 7; B ¼ 6
6 0 1 7; C¼6 7
6 LM 7 6 0 0 7
7
6
6 0 0
1 7
7
6 7 6 LM 7 6
6 B 7 6 LM 7
6 0 0 0 0 7 6 0 1 7
7
6
4 0 0
7
0 5
6 J 7 4 0 0
4
P
5 J 5
0 0 0 0 0 0 0
0 0 0 0
2
ð7Þ

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 Neural Comput & Applic

2.2 Matrix converter Initially the speed error (e) is generated by comparing
the actual speed of the BLDC motor with the set reference
MC is a direct AC–AC power converter in which an array speed. By differentiating the speed error, rate of change of
of nine bidirectional switches directly connects each output speed error (ce) is obtained. Speed error and the differential
phase to each input phase as shown in Fig. 1. speed error are fed as inputs to the fuzzy training block,
The switches are controlled in such a way that the which provides the supervised data as output (Kf). By
average output voltages are a three-phase set of sinusoids comparing this supervised data (Kf) and the ANFIS con-
of the required frequency and magnitude. The matrix troller output (Kb), learning error is obtained and this
converter can comply with four quadrants of motor oper- becomes the other input for the ANFIS controller. The
ations, while generating no higher harmonics in the three- BFOA accepts the reference speed and the load torque as
phase AC power supply. input, and the outputs are the optimized values for the
The mathematical expressions that represent the basic learning parameters (g, k, a) of the online ANFIS controller
operation of the MC are obtained applying Kirchhoff’s and are updated based on the reference speed and load
voltage and current laws to the switch array. torque of the motor. Hence, the ANFIS controller gets the
  speed error (e), differential speed error (ce), optimized
1; switch Sjk closed K ¼ fA; B; C g
Sjk ¼ ð8Þ learning parameters (g, k, a) and the learning error
0; switch Sjk open j ¼ fa; b; cg
2 3 2 32 3 (Kf - Kb) as input and produces the control signal for the
Va ð t Þ SAa ðtÞ SBa ðtÞ SCa ðtÞ VA ð t Þ MC. The control signal is then given to the switching logic
4 Vb ðtÞ 5 ¼ 4 SAb ðtÞ SBb ðtÞ SCb ðtÞ 54 VB ðtÞ 5 ð9Þ generator that provides pulses to the nine switches of MC,
Vc ð t Þ SAc ðtÞ SBc ðtÞ SCc ðtÞ VC ðtÞ which controls the speed of the BLDC motor by controlling
2 3 2 32 3 the input AC supply voltage. Online adaptive neuro-fuzzy
I A ðt Þ SAa ðtÞ SBa ðtÞ SCa ðtÞ I a ðt Þ
4 IB ðtÞ 5 ¼ 4 SAb ðtÞ SBb ðtÞ SCb ðtÞ 54 Ib ðtÞ 5 ð10Þ inference system-based speed control strategy is briefed in
I C ðt Þ SAc ðtÞ SBc ðtÞ SCc ðtÞ Ic ðtÞ the next subsection.

where VA, VB and VC are the output phase voltages and IA,
IB and IC represent the output current of the MC.
3 Matrix converter-fed BLDC motor with BFOA
optimized online ANFIS speed controller
The detailed explanation of the matrix converter-fed BLDC
motor with BFOA optimized online speed controller has
been presented. Figure 2 shows the block diagram of the
proposed system.
3.1 Online adaptive neuro-fuzzy inference system
In neuro-fuzzy approaches, a neural network is used to
implement the fuzzy system, so that parameter identifica-
tion and the structure of the fuzzy rule bases are accom-
plished by defining, adapting and optimizing the topology
based only on the available data is termed as offline
learning of ANFIS controller. The network can be regarded
as an adaptive fuzzy inference system with the capability of
learning fuzzy rules from data. In offline learning, first the
structure of ANFIS controller is formed using partitioning

Fig. 1 Matrix converter

topology

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Neural Comput & Applic

Fig. 2 Block diagram of the proposed system

algorithm (structure learning), and the parameter of the which is difficult for an observer to modify or to under-
ANFIS controller is updated using hybrid algorithm (pa- stand. Fuzzy inference system has two inputs and one
rameter learning). The structure and parameter learning of output. A typical rule set with two fuzzy ‘‘IF–THEN’’ rules
the ANFIS controller is done sequentially. The sequential for a first-order Sugeno fuzzy model is given by the fol-
learning is a time-consuming process, and also it needs lowing rules:
large amount of representative input–output data. In order The syntax of the IF–THEN rules proposed in the paper
to overcome this, online learning has been introduced. is given as follows
Here, the structure and the parameter learning are per-
Rule 1 If c is X1 and ce is Y1, then f1 = p1e ?
formed in parallel. In this paper, online ANFIS controller is
q1ce ? r1
proposed for the speed control of BLDC motor. Moreover,
Rule 2 If c is X2 and ce is Y2, then f2 = p1e ?
the performance of the online ANFIS controller depends on
q2ce ? r2
three parameters such as learning rate (g), forgetting factor
(k) and steepest descent momentum constant (a), known as
free learning parameters. Normally, these parameters are 3.1.1 Input node (Layer 1)
constant throughout the operation of BLDC motor. If
operating point of the BLDC motor gets changed abruptly, It is known as fuzzification layer that converts crisp
the performance of the BLDC motor will be degraded thus quantities into fuzzy variables. Nodes in the layer possess
affecting the time domain performance measures of the membership functions. Every node i in this layer is a
speed response. To overcome this, the free learning square and adaptive node with a node function:
parameters are optimized for different operating points of ð1Þ
Oi ¼ lXi ðeÞ; for i ¼ 1; 2; . . .; n ð11Þ
the BLDC motor.
A typical architecture of the proposed online ANFIS is where e is the input to node i, and Xi is the linguistic label
shown in Fig. 3. The circle indicates a fixed node, a square (small, large, etc.) associated with this node function. In
indicates an adaptive node, and there are input and output other words, O(1)
i is the membership function of Ai, and it
nodes. In the hidden layers, there are nodes functioning as specifies the degree to which the given e satisfies the
membership functions and rules. The disadvantage of a quantifier Xi. Membership function used is the generalized
normal feed forward multilayer network is eliminated, bell function and the expression is given by:

123
 Neural Comput & Applic

Fig. 3 Architecture of ANFIS

1 3.1.2 Rule nodes (Layer 2)

li ðeÞ ¼  2bi ð12Þ
eci 
1 þ  ai 
Every node in this layer is a circle, and the output
where {ai, bi, ci} is the set of parameters associated with the represents a firing strength of a rule. The minimum
membership function. The parameters a and b vary the width value of two input weights is chosen and AND/OR
of the curve, and the parameter c locates the center of the operator is applied to get a single output. This repre-
curve. The parameter b should be positive. The shape of the sents the results of the antecedent for a fuzzy rule, i.e.,
bell-shaped function varies as the values of these parameters the firing strength that indicates the degree by which the
change. The parameters in this layer are termed as premise antecedent part of the rule is satisfied and also indicates
parameters and are modified using the most effective feed the shape of the output function for the rule. Every node
forward-feedback algorithm termed as back propagation generates the output (firing strength) by cross multi-
algorithm. After receiving the online input–output training plying all the incoming signals and given by the fol-
data, the premise parameters are updated in such a way that it lowing equation as
minimizes the error function given by the expression ð2Þ
Oi ¼ wi ¼ lXi ðeÞXlYi ðceÞ; for i ¼ 1; 2; . . .; n ð15Þ
1 2
EðmÞ ¼ Kf ðmÞ  Kb ðmÞ ð13Þ
2
3.1.3 Average nodes (Layer 3)
At each step time m, Kf(m) is given as the desired output,
and Kb(m) is defined as the output of the online ANFIS con- This layer is called as the normalization layer and repre-
troller. ANFIS operates in the forward pass for each training sented by a circle labeled N. The ratio between the ith
data pair and calculates the current output Kb(m). Similarly, rule’s firing strength to the sum of all rules firing strengths
after the calculation of errors and by the time the error is back is calculated. Every node of these layers calculates the
propagated back to the hidden layer, for each node at every weight, which is then normalized. Outputs of this layer are
layer of the network, the derivatives qE(m)/qw are calculated. often termed as normalized firing strengths and are given
The premise parameters ai, bi and ci of the bell-shaped input by the following expression
membership function are updated at the end of every iteration ð3Þ wi
and are given by the following expression as, wi ¼ ; for i ¼ 1; 2; . . .; n ð16Þ
w1 þ w2
!
  oEðmÞ
ð1Þ ð1Þ
ai ðm þ 1Þ ¼ a ai ðmÞ þ g  ð1Þ 3.1.4 Consequent nodes (Layer 4)
oai
!
  oEðmÞ
ð1Þ ð1Þ This layer is termed as linear function layer, where the
bi ðm þ 1Þ ¼ a bi ðmÞ þ g  ð1Þ
obi outputs are treated as functions of the input signals. Hence,
! the contribution of ith rule toward the total output or the
  oEðmÞ
ð1Þ ð1Þ model output is calculated. Every node i in this layer is a
ci ðm þ 1Þ ¼ a ci ðmÞ þ g  ð1Þ ð14Þ
oci square node with a node function given by

123
Neural Comput & Applic

 
ð4Þ ð3Þ ð3Þ The output control signal from ANFIS fed to the matrix
Oi ¼ wi fi ¼ wi ðpi e þ qi x þ ri Þ ð17Þ
converter is given by
X P
where wi is the output of Layer 3 (Normalization Layer) ð5Þ  wi fi
Kb ¼ Oi ¼ wi fi ¼ Pi ð21Þ
and {pi, qi, ri} is the parameter set of the consequent node. i wi
These parameters are referred to as consequent parameters.
f ðeðmÞ; ceðmÞÞvðmÞ ¼ Ua ðmÞ ð18Þ 3.2 Updating the free learning parameters of online
where e(m) and ce(m) are controller input vectors and v(m) ANFIS
is the unknown parameter to be estimated. To identify the
unknown parameter v(m), the input–output training data are In this section, the learning parameter (g, a and k) update
required on the target and is obtained from the fuzzy trai- law for the online ANFIS controller with different oper-
ner. It is given by the following expression as ating conditions of the Brushless DC motor has been
described. Figure 4 shows the lookup table for the learning
ft ðeðmÞ; ceðmÞÞvðmÞ ¼ Uc ðmÞ ð19Þ parameter. It consists of 2 input–3 output lookup table.
Linear parameter of this later is updated by the fol- Lookup table has two inputs, i.e., set speed and load torque
lowing equation, of the Brushless DC motor, and it provides the learning

parameter to the online ANFIS controller based on the
1 Qn ff T Qn  
djknþ1 ¼ djkn þ Qn  T
f U  f T djkn and operating conditions of the Brushless DC motor.
k k þ f Qn f The detailed process involved in updating the parame-
donþ1 ¼ don ð20Þ ters of online ANFIS is given below.
where Qn = (fTkft)-1 and k is the forgetting factor of the 1. Initially, the set speed and load torque of the BLDC
online ANFIS controller. motor is read, and it is processed in four loops. If the
speed is in the range of 380–285 rpm, Loop 1 is used.
3.1.5 Output node (Layer 5) If the speed is in the range of 285–190 rpm, then Loop
P 2 is used. If speed is in the range of 190–95 rpm, then
This layer is a fixed single layer node labeled ‘‘ ’’ that com- loop 3 is used. Finally, if the speed is in the range of
putes the overall output by summing all the incoming signals: 95–0 rpm, then Loop 4 is used. Flowchart for updating
law is shown in Fig. 5.
2. In Loop 1, if the torque is in the range of 0–3.2 N m,
then the learning parameters are updated to the ANFIS
controller for the condition of 380 rpm and 0 Nm else
if the torque is in the range of 3–6.4 N m, then update
the parameters for the condition 380 rpm and 6.4 Nm.
3. In loop 2, if the torque is in the range of 0–3.2 N m,
Fig. 4 2D-lookup table for the learning parameters then the learning parameters are updated to the ANFIS

Fig. 5 Updating the free learning parameters of online ANFIS

123

controller for the condition of 285 rpm and 0 N m else
if the torque is in the range of 3.2–6.4 N m, then
update the parameters for the condition 285 rpm and
6.4 Nm.
4. In loop 3, if the torque is in the range of 0–3.2 N m,
then the learning parameters are updated to the ANFIS
controller for the condition of 190 rpm and 0 N m else
if the torque is in the range of 3.2–6.4 N m, then
update the parameters for the condition 190 rpm and
6.4 N m.
5. In loop 4, if the torque is in the range of 0–3 N m, then
the learning parameters are updated to the ANFIS
controller for the condition of 95 rpm and 0 N m else
if the torque is in the range of 3.2–6.4 N m, then
update the parameters for the condition 95 rpm and
6.4 Nm.
3.3 BFOA-based tuning of learning parameters
of online ANFIS
In this section, optimization of the free learning parameters
of the online ANFIS controller using BFOA algorithm is
presented. Flowchart for the BFOA algorithm is shown in
Fig. 6. The detailed steps for the BFOA algorithm are
given as follows:
Step 1: Objective Function Formulation
An objective is basically an expression that is sought to be
optimized. This means that it is a measure which is sought
to be optimized in order to obtain an optimal level of
performance for the system under consideration.
For any closed loop controlled process, fast response
and excellent stability are the desirable requirements.
This can be achieved by proper selection of controller
parameters and by minimizing a suitably defined
objective function with the help of an optimization
technique. In this paper, an online ANFIS controller is
designed for speed control of BLDC motor by mini-
mizing the combination of integral squared error (ISE)
and the time domain performance criteria as the
objective function with the help of a novel BFOA
optimization technique. The objective addressed in this
paper is given by
Minimize J ¼ fJISE þ JT g ð22Þ
where JISE is the integral of squared error and JT is the time
domain performance criteria. This aggregated function
should be minimum and reflects in the speed response, i.e.,
superior damping is attained owing to sudden load distur-
bance and set speed variations, thereby improving the time
domain specification of the speed response of the BLDC
motor.
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Neural Comput & Applic
1. Integral Squared Error (ISE)
ISE integrates the square of the error over time. ISE will
penalize large errors more than smaller ones (since the
square of a large error will be much bigger). Control sys-
tems specified to minimize ISE will tend to eliminate large
errors quickly, but will tolerate small errors persisting for a
long period of time. Often this leads to fast responses, but
with considerable, low amplitude, oscillation.
Z 1
JISE ðsÞ ¼ eT ðtÞeðtÞdt ð23Þ
0
where e(t) = r(t) - y(t) is the error. r(t) is reference vari-
able and y(t) is the output variable.
2. Time domain performance Criteria (JT)
The objective function relating the time domain perfor-
mance criteria measures such as maximum peak overshoot
(Mp), steady-state error (ess), settling time (ts) and rise time
(tr) was proposed by Zwe-Lee [23]. By integrating all the
measures, optimum control performance can be achieved
by minimizing the
  
JT ¼ 1  eb Mp þ Ess þ eb ðts  tr Þ ð24Þ
where b is a weighting factor that allows the designer to
choose specific requirements. To reduce the maximum
overshoot and steady-state error, b should be greater than
0.69. On the other hand, to reduce the time difference
between settling and rise times, b should be less than 0.69.
A compromised value of b = 0.69 is considered in this
paper.
Step 2: Initialize the parameters p, S, Nc, Ns, Nre, Ned,
Ped, C(i) (i = 1, 2, …, S), hi
where P is the search space dimension, S is the total
number of bacteria in population, Nc is the total number of
chemotactic steps, Ns is the swimming length, Nre is the
total number of reproduction steps, Ned is total number of
elimination-dispersal events, Ped is the Elimination-dis-
persal probability, C(i) is the size of the step taken in the
random direction specified by the tumble, and hi is the
position of ith bacterium.
Range of tuning parameters (a, g, k) of proposed ANFIS
controller is 0 B a B 2, 0 B g B 2 and 0 B k B 5.
Step 3: Elimination-Dispersal loop: l = l ? 1, l is the
index of the elimination-dispersal event,
Step 4: Reproduction loop: k = k ? 1, k is the index for
the reproduction step,
Step 5: Chemotaxis loop: j = j ? 1, j is the index for the
chemotactic step,
1. For i = 1, 2, …, S, take a chemotactic step for
bacterium ‘‘i’’ as follows:
Neural Comput & Applic

Fig. 6 Flow chart of BFOA

2. The fitness function J(i, j, k, l) is computed and X

S  
Jcc ðh;Pðj;k;lÞÞ ¼ Jcc h;hi ðj;k;lÞ
given by i¼1
  X
"
X
!#
J ði; j; k; lÞ ¼ J ði; j; k; lÞ þ Jcc hi ðj; k; lÞ; Pðj; k; lÞ
S P  2
¼ dattractant exp wattractant hm  him
i¼1 m¼1
Jcc is known as the cell-to-cell attractant–repellent " !#
X
S X
P  2
profile to simulate the swarming behavior and þ hrepellant exp wrepellant hm  him
i¼1 m¼1
expressed in the following equation,
ð25Þ

123

where Jcc ðh; Pðj; k; lÞÞ is the objective function value
to be added to the actual objective function (to be
minimized) to present a time varying objective
function. S is the number of bacteria, p is the number
of variable to be optimized, which are present in
Neural Comput & Applic
Jihealth be the health of bacterium i (a measure of
how many nutrients it got over its life time and
how successful it was at avoiding noxious sub-
stances). Sort bacteria and chemotactic parameter
C(i) in order of ascending cost Jihealth.
 T
each bacterium and h ¼ h1 ; h2 ; . . .; hp is a point (b) The Sr bacterium with the highest Jihealth values dies
in the p-dimensional search domain. dattractant, wat- and the other Sr bacteria with the best values split
tractant, hrepellant and wrepellant are the coefficients to be
(this process is performed by the copies that are made
chosen properly. and are placed at the same location as their parent).
3. Let Jlast = J(i, j, k, l) to save this value since we may Step 8: If k \ Nre, then go to step 4. In this case, we have
find a better cost via a run. not reached the number of specified reproduction steps.
4. Tumble: Generate a random vector D(i) [ RP with The next generation of the chemotactic loop is started.
each element Dm(i), m = 1, 2,…, p, a random Step 9: Elimination-Dispersal: For i = 1, 2, …, S with
number on [-1 1], where R is a real number. probability Ped, eliminate and disperse each bacterium (this
5. Move let keeps the number of bacteria in the population constant). If
DðiÞ
hi ðj þ 1; k; lÞ ¼ hi ðj; k; lÞ þ C ðiÞ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ð26Þ a bacterium is eliminated, simply disperse another one to a
DT ðiÞDðiÞ random location on the optimization domain.
If l \ Ned, then go to step 2; otherwise end.
This results in a step of size C(i) in the direction of
the tumble for bacterium i
6. Compute J(i, j ? 1, k, l) and let
4 Simulation results and discussion
J ði; j þ 1; k; lÞ ¼ J ði; j; k; lÞ
 
þ Jcc hi ; ðj þ 1; k; lÞ; Pðj þ 1; k; lÞ In this section, the MATLAB/Simulink model and the sim-
ulation results are presented to validate the effectiveness of
7. Swim. the proposed BFOA optimized online ANFIS-based speed
controller. Speed response characteristics for constant load
(a) Let m = 0 (counter for swim length).
condition, varying load conditions and varying set speed
(b) While m \ Ns (if have not climbed down too
conditions are analyzed and compared for the Brushless DC
long).
motor with proposed BFOA online ANFIS controller, PSO
Let m = m ? 1
optimized online ANFIS [20], bat algorithm optimized
If J(i, j ? 1, k, l) \ Jlast (if there is improve-
online ANFIS controller [21], fuzzy logic controller [22] and
ment), let Jlast = J(i, j ? 1, k, l)
PID controller [9] acting separately. To compare the per-
And let
formance of the proposed BFOA optimized online ANFIS
DðiÞ controller with existing control techniques, eight different
hi ðj þ 1; k; lÞ ¼ hi ðj; k; lÞ þ C ðiÞ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
DT ðiÞDðiÞ performance measures are considered. The five of these
performance measures are selected from the classical tran-
ð27Þ sient speed response criteria, namely the rise time, maximum
overshoot, settling time, peak time and the steady-state error.
and use this hi ðj þ 1; k; lÞ to compute the new
The further three performance measures considered are
J(i, j ? 1, k, l) as in 4.
integral of absolute error (IAE), integral of squared error
Else, let m = Ns. End of while statement
(ISE) and integral of time multiplied absolute error (ITAE).
8. Go to next bacterium (i ? 1) if i = S [i.e., go
The errors at the beginning of response can be sufficiently
to 2 to process the next bacterium].
indicated by IAE and with less efficiency for the steady-state
Step 6: If j \ Nc, then go to step 5. In this case, continue duration. ISE penalize large error quickly, while ITAE keeps
chemo taxis, until the end of life of the bacteria account of errors at the beginning and emphasizes the steady
Step 7: Reproduction state. The specifications of the proposed low-speed, high-
torque BLDC motor are given in Table 1.
(a) For the given k and l, and for each i = 1, 2, …, S,
The parameters used for PSO, bat algorithm and BFOA
let
presented in the paper are presented in Table 2.
X
N c þ1
With a population of I = 10 individuals for G = 10 gen-
Ji health ¼ Jði; j; k; lÞ ð28Þ
j¼1
erations, the fitness function given in Eq. (22) is evaluated

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Neural Comput & Applic

Table 1 Specifications of BLDC motor 100 times. Indeed, this number (E = I 9 G) represents the act
Parameters Value
of evaluating points inside the search space. Optimization
process performed using MATLAB-R2010a, M-file under
Maximum torque 6.4 Nm Windows 7 on a PC Pentium dual core processor CPU, and
Rated power 250 W 2.1 GHz speed system. Totally, 100 trials have been per-
Maximum rated speed 380 rpm formed, in order to be definite that convergence has taken
Maximum voltage 48 V place, and 10,000 functions have been evaluated for 100 trails.
Maximum current 5.2 A For PID controller, Proportional gain (Kp) of 0.7, integral gain

Table 2 Parameters of the optimization algorithm

Parameters
PSO Bat algorithm BFOA

Population size 10 Population size 10 Population size 10

Generations 10 Generations 10 Generations 10
Function evaluations 100 Function evaluations 100 Function evaluations 100
Cognitive parameter (c1) 2 b=r 0.9 Crossover rate 0.9
Social parameter (c2) 2 P01 0.9 Mutation rate 0.001
Initial weight (Wmin) 0.9 R01 0.9 Total number of bacteria (S) 100
Final weight (Wmax) 0.4 fmin 0 Number of chemotactic steps (Nc) 4
Trial 100 fmax 100 Swimming length (Ns) 2
Elimination-dispersal probability (Ped) 0.25
Number of reproduction steps (Nre) 10
Number of elimination–dispersal events (Ned) 2
Trial 100 Trial 100

Fig. 7 Simulink model of the proposed system

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 Neural Comput & Applic

Fig. 8 Simulink model of the

matrix converter

Table 3 Optimal value of

Operating point Algorithm Learning rate (g) Forgetting factor (k) Steepest descent
parameters of ANFIS tuned by
momentum
PSO, BAT and BFOA
constant (a)

1 PSO 0.100 5.001 0.107

BAT 0.280 4.774 0.199
BFOA 0.302 4.338 0.201
2 PSO 0.977 2.491 1.006
BAT 0.388 3.557 0.688
BFOA 0.392 3.900 0.532
3 PSO 0.230 3.815 0.107
BAT 0.288 2.000 0.315
BFOA 0.298 2.880 0.364
4 PSO 0.100 3.680 0.857
BAT 0.855 3.986 0.285
BFOA 0.682 4.004 0.286
5 PSO 0.124 1.352 0.837
BAT 0.348 4.75 0.496
BFOA 0.365 5.875 0.249
6 PSO 0.620 2.643 0.102
BAT 0.435 2.699 0.334
BFOA 0.428 2.800 0.355

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Neural Comput & Applic

(Ki) of 0.05 and Derivative gain Kd = 0.1 is used [9]. In case of control signal obtained from the BFOA optimized ANFIS
FLC, the rule base is derived from [10]. Implementation of the controller is given to the switching logic circuit, where the
proposed control technique for the matrix converter-fed BLDC pulses for MC is generated. The pulses thus generated are
motor using MATLAB/SIMULINK is shown in Fig. 7. The given to the three-phase MC, which controls the speed of

Fig. 9 Response of the BLDC

motor under operating point 1

Table 4 Result of performance

Controller Time domain performance criteria Integral performance indices
parameters for the operating
point 1 Overshoot Settling time Steady-state error IAE ITAE ISE

PID controller 1.12 0.157 10.8 0.025 0.000521 0.0161

Fuzzy logic controller 1.45 0.138 11.3 0.017 0.000247 0.0113
PSO-ANFIS 0.16 0.138 2.07 0.017 0.000209 0.0112
BAT-ANFIS 2.04 0.141 2.97 0.017 0.000215 0.0112
BFOA-ANFIS 0.08 0.106 0.80 0.017 0.000201 0.0111

Fig. 10 Response of the BLDC

motor under operating point 3

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 Neural Comput & Applic

Table 5 Result of performance

Controller Time domain performance criteria Integral performance indices
parameters for the operating
condition 3 Overshoot Recovery time Steady-state error IAE ITAE ISE

PID controller 0.00 0.350 4.95 0.025 0.00051 0.0161

Fuzzy logic controller 0.10 0.330 0.83 0.021 0.00023 0.0113
PSO-ANFIS 0.45 0.330 6.30 0.021 0.00025 0.0113
BAT-ANFIS 1.00 0.325 2.72 0.019 0.00021 0.0113
BFOA-ANFIS 0.00 0.303 0.37 0.017 0.00021 0.0112

Table 6 Statistical
Statistical performance Best Mean Worst STD Average computation
performances of PSO-ANFIS,
time (s)
BAT-ANFIS and BFOA-ANFIS
BFOA-ANFIS 1.7704 1.7718 1.7754 5.02 258
BAT-ANFIS 2.0400 2.0412 2.0451 4.55 397
PSO-ANFIS 2.1224 2.0884 2.2548 4.85 474

BLDC motor. Simulation results are presented below with Operating Point 2: Full rated speed (380 rpm) at load
detailed discussions. torque of 3.2 N m.
Simulink model of matrix converter for the proposed Operating Point 3: Full rated speed (380 rpm) at load
technique is shown in Fig. 8, where nine bidirectional torque of 6.4 N m.
switches are arranged in order in such a manner that it Operating Point 4: Half rated speed (190 rpm) at load
connects the three-phase input and output. As there is no torque of 0 N m.
availability of bidirectional switches, two IGBTs connected Operating Point 5: Half rated speed (190 rpm) at load
in anti-parallel act as bidirectional switch. torque of 3.2 N m.
Operating Point 6: Half rated speed (190 rpm) at load
4.1 Operating points considered for Brushless DC torque of 6.4 N m.
motor
4.2 Optimal parameters of ANFIS tuned by PSO,
Various operating points are addressed in this research, in
BAT and BFOA
order to demonstrate the effectiveness of the proposed
control scheme.
Table 3 presents the optimal value of free learning
Operating Point 1: Full rated speed (380 rpm) at load parameters of ANFIS tuned by PSO, BAT and BFOA for
torque of 0 N m. all the operating points under study.

Fig. 11 Comparison of
convergence plot for operating
point 4 with PSO, BAT and
BFOA algorithm

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Neural Comput & Applic

4.3 Speed responses under various operating points Figure 9 shows the output speed response of the MC-fed
BLDC motor with the existing and the proposed controller,
Speed response of MC-fed BLDC Motor simulated using with a set speed (full rated speed) of 380 rpm under load
MATLAB is presented for operating points 1, 3, 4 and 6. torque of 0 N m and the corresponding time domain per-
For the purpose of reducing the length of the research formance criteria and integral performance indices are
article, the rest is not presented. shown in Table 4.
From the results, it is clear that the BFOA optimized
online ANFIS controller has better time domain perfor-
mance criteria and integral performance indices. All vital
Table 7 Best performances of J in superior methods
parameters such as overshoot, settling time, steady-state
Method JISE JT J error, ISE, ITAE are favoring only for BFOA optimized
BFOA-ANFIS 0.1106 1.6598 1.7704
online ANFIS controller. In the transient region, the speed
response is under damped in the case of PID controller,
BAT-ANFIS 0.1121 2.0400 2.1521
fuzzy logic controller, PSO optimized online ANFIS and
PSO-ANFIS 0.1234 1.999 2.1224
BAT optimized online ANFIS controller. No transients and

Fig. 12 Response of the BLDC

motor under operating point 4

Table 8 Result of performance parameters for the operating condition 4

Time domain specifications PID controller Fuzzy logic controller PSO-ANFIS BAT-ANFIS BFOA-ANFIS

Rise time (s) 1.411 0.049 0.044 0.039 0.034

Overshoot (%) 1.746 1.412 1.291 1.243 0.586
Steady-state error (rpm) 5.46 3.756 1.021 0.921 0.724
Settling time (s) 0.212 0.127 0.184 0.096 0.024
Peak time (s) 0.0351 0.027 0.028 0.023 0.020

Table 9 Integral performance

Performance measures PID controller FLC PSO-ANFIS BAT-ANFIS BFOA-ANFIS
measures for operating
condition 4 ISE 0.1131 0.1128 0.1126 0.1119 0.1102
IAE 0.0173 0.0171 0.0170 0.0168 0.0165
ITAE 0.00022 0.00020 0.00018 0.00018 0.00017

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 Neural Comput & Applic

Fig. 13 Comparison of
convergence plot for operating
point 6 with PSO, BAT and
BFOA algorithm

Table 10 Best performances of J in superior methods oscillations are found in the speed response curve for the
BFOA optimized online ANFIS controller, and thus the
Method JISE JT J
proposed controller outperforms the other controllers.
BFOA-ANFIS 0.0597 1.4471 1.5068 Figure 10 shows output speed response of the BLDC
BAT-ANFIS 0.0667 1.9092 1.9759 motor, with the existing and the proposed controller, with a
PSO-ANFIS 0.211 1.8942 2.1052 set speed of 380 rpm under full load torque of 6.4 N m

Table 11 Statistical
Statistical performance Best Mean Worst STD Average computation
performances of BAT-ANFIS
time (s)
and BFOA-ANFIS
BFOA-ANFIS 1.5068 1.5078 1.5086 7.46 275
BAT-ANFIS 1.9759 1.9764 1.9781 5.51 322
PSO-ANFIS 2.1052 2.1014 2.4512 6.54 410

Fig. 14 Response of the BLDC

motor under operating point 6

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Neural Comput & Applic

Table 12 Result of
Time domain specifications PID controller FLC PSO-ANFIS BAT-ANFIS BFOA-ANFIS
performance parameters for the
operating condition 6 Rise time (s) 1.3009 0.038 0.024 0.025 0.017
Overshoot (%) 1.524 1.324 1.120 1.13 0.344
Steady-state error (RPM) 4.921 2.433 0.099 0.761 0.542
Settling time (s) 0.192 0.112 0.091 0.074 0.009
Peak time (s) 0.029 0.021 0.019 0.019 0.015

Table 13 Integral performance

Performance measures PID controller FLC PSO-ANFIS BAT-ANFIS BFOA-ANFIS
measures for operating
condition 6 ISE 0.1086 0.0921 0.0718 0.0664 0.0592
IAE 0.01102 0.0104 0.0098 0.0098 0.0079
ITAE 0.00018 0.00015 0.00015 0.00011 0.00008

Table 14 Time duration and different set speed conditions for the
brushless DC motor
Time (s) 0–0.4 0.4–0.5 0.5–0.7
Set speed (rpm) 190 240 150
applied at 0.3 s. The corresponding time domain perfor-
mance criteria and integral performance indices are shown
in Table 5.
From these outcomes, it is ascertained that the BFOA
optimized online ANFIS controller is able to perform better
under sudden change in load conditions. It is inferred that
the proposed controller effectively rejects the disturbance
in 0.03 s. The uncertainty problem due to the load varia-
tions is completely tackled and tracked by the BFOA
optimized online ANFIS controller and thus makes it an
ideal controller for Brushless DC motor for use in the
industrial environment.
Table 6 shows the best, mean and worst value of best
solutions with ISE combined with time integral perfor-
mance criteria for 100 trials with PSO, BAT and BFOA
algorithm for operating condition 4. This makes obvious
that the BFOA algorithm can obtain a better solution for
aggregated objective functions with respect to the other
algorithms. The execution time certifies the supremacy of
the BFOA algorithm over the other methods. Moreover, the
computed CPU time values for different algorithms
demonstrate that the number of the required iterations for
convergence is not equal for these algorithms. To prove the
capability of BFOA algorithm, the comparison between
convergence plots of PSO, BAT and BFOA algorithms is
displayed for aggregated objective functions in Fig. 11.
Best solution (Minimum values of ISE and time per-
formance Criteria) among the superior methods, BFOA-
ANFIS, BAT-ANFIS and PSO-ANFIS, is selected and
tabulated in Table 7.
Figure 12 shows output speed response of the BLDC
motor, with the existing and the proposed controller, with a
set speed of 190 rpm under load torque of 0 N m. The time
domain specifications and integral performance indices for
the operating point 4 are tabulated in Tables 8 and 9,
respectively. The BFOA optimized online ANFIS has
better time domain specification and integral performance
indices than the other considered controllers. The vital
parameters such as overshoot rise time, settling time
steady-state error, integral of absolute error, integral of
squared error and integral of time multiplied absolute error
are in favor of the BFOA optimized online ANFIS
controller.
A convergence graph for operating condition 6 is shown
in Fig. 13. It is clear that the BFOA algorithm minimizes
the fitness value to global optimum at second iteration for
operating point 6. But, PSO and BAT minimize the fitness
value to global optimum at fourth iteration. Best solution
(Minimum values of ISE and time performance Criteria in
BFOA-ANFIS, BAT-ANFIS and PSO-ANFIS) is selected
and tabulated in Table 10.
Finally, the best, mean, worst and average computation
time value of best solutions of ISE combined with time
integral performance for 100 trials with PSO, BAT and
BFOA algorithm for operating condition 6 is shown in
Table 11. From this result, it is evident that BFOA algo-
rithm has minimum fitness value than PSO and bat algo-
rithm. Moreover, the average computation time favors for
the BFOA algorithm.
The minimal value of fitness function and average
computation time is not only the decisive parameter for
judging the BFOA algorithm to be better than BAT and
PSO. In order to evaluate the superiority of the BFOA
algorithm, time domain specification (rise time, overshoot,
peak time, settling time and steady-state error) and per-
formance indices (IAE, ITAE, and ISE) are measured and
analyzed for this operating conditions of the Brushless DC

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 Neural Comput & Applic

Fig. 15 Set point tracking performance of

the proposed control scheme

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Neural Comput & Applic

motor and also compared with PID, FLC, PSO-ANFIS and

BAT-ANFIS. Figure 14 shows output speed response of
the BLDC motor, with the existing and the proposed con-
troller, with a set speed of 190 rpm under load torque of
6.4 N m applied at 0.3 s. Tables 12 and 13 show the per-
formance parameter of the Brushless DC motor for the
operating condition with various controllers. From these
results, BFOA algorithm has small value of time domain
specification and integral performance indices than other
controller, and it is inferred that the proposed controller
effectively rejects the disturbance in 0.03 s. Considering all
vital parameters such as fitness value, average computation
time and time domain specification and performance
indices, it is evident that BFOA algorithm optimized online
ANFIS controller performs better than other controllers.

4.4 Set point tracking performances of the proposed

controller

In the process industries, the drives have to operate under

different set speed conditions as per the requirement. To
match with the realistic working environment, in this sec-
tion, the speed responses are analyzed and compared for
the proposed and other existing controllers with different
set speed conditions. The set speed conditions are provided
in Table 14. The speed response characteristics and the
control effort for the proposed controllers are shown in
Fig. 15.
With PID controller, it is observed that the output motor
speed does not accurately track the set speed command, and
the speed response has larger steady-state error of 15 rpm
and 3% of maximum overshoot. The speed response has
larger overshoot of 2.5% and a steady-state error of
12.5 rpm, in the case of fuzzy logic controller. The speed
response has large steady error of 10 rpm and maximum
overshoot of 2% with PSO optimized online ANFIS con-
troller. The speed response has large steady-state error of
7.5 rpm and maximum overshoot of 2% with bat algorithm
optimized online ANFIS controller. With BFOA optimized
online ANFIS controller, the speed response has less over-
shoot of 0.5% and small steady-state error of 2 rpm, as
compared to other existing control schemes.

4.5 Total harmonic distortion analysis Fig. 16 Line current THD of the converter/inverter. a Traditional
PWM inverter. b Proposed MC
Total harmonic distortion of a signal is a measurement of
the harmonic distortion present and is defined as the ratio
of the sum of the powers of all harmonic components to the Table 15 Comparative performances based on THD (simulation)
power of the fundamental frequency. Lower THD results in Converter THD (%) Fundamental (50 Hz)
reduction of peak currents, heating, emissions and core loss
PWM inverter 3.73 11.47
in motors. Fast Fourier transform (FFT) analysis of line
Matrix converter 3.20 11.71
current of PWM inverter and matrix converter-fed BLDC

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 Neural Comput & Applic

Fig. 17 Block diagram of

experimental setup of the
proposed system

motor are shown in Fig. 16a, b, respectively, for a fre-

quency of 50 Hz.
From Table 15, it is inferred that THD of line current of
MC is decreased as compared to PWM inverter. Thus, it is
evident that the source current harmonics are less in the
case of MC. Hence, the advantage of using matrix con-
verter in the proposed research is proved.

5 Experimental analysis

Block diagram of the implementation of the proposed

system using ARM processor is shown in Fig. 17.
The experimental setup of the proposed system consists
of LPC2148 Development board, matrix converter, BLDC
motor with loading arrangement and Digital Storage
Oscilloscope (DSO) is shown in Fig. 18. LPC2148
Development Board is a powerful development platform
based on LPC2148ARM7TDMI microcontroller with
512 K on-chip memory, two 10-bit ADCs which provide a
total of 14 analog inputs and single 10-bit DAC provides
variable analog output. The LPC2148 microcontroller is
supported by various commercially available IDEs for
compiling and debugging of the code. Keil l vision IDE is
used for programming the ARM processor.
Three-phase AC voltage is fed to the matrix converter,
and the output is given to the BLDC motor through ARM Fig. 18 Experimental setup of the proposed system

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Neural Comput & Applic
Fig. 19 Set speed of 380 rpm
introduced at t = 2.5 s
Fig. 20 Set point tracking
performance in the presence of
disturbance
processor and driver circuit. DSO is used to display and store
the output waveforms of the BLDC motor. Output signals of
the sensors (speed and torque) are measured and given to the
LPC2148ARM7TDMI microcontroller through ADC. Pul-
ses for the matrix converter switches are generated by the
LPC2148ARM7TDMI control unit according to a specified
logic incorporated in ARM processor.
The results and performances of the proposed system
based on the experimental study are discussed below.
Figure 19 shows the speed control of the proposed
BFOA-based ANFIS at a full rated speed of 380 rpm. Set
speed is given at t = 2.5 s, and the speed response is
recorded.
Figure 20 proves the set point tracking capability of the
proposed BFOA-based ANFIS control technique. Initially,
the speed is controlled at 190 rpm and at t = 12 s, the
speed is increased to 380 rpm and a load torque distur-
bance of 3.2 N m is introduced at t = 17.5 s, the controller
till continues to provide better speed control.
The output current of phase A of BLDC motor and the
line voltage between phases A and B of BLDC motor are
given in Fig. 21a, b, respectively.
The rotor position is sensed with respect to the three
stator windings using hall sensor. Figure 22 shows the hall
signal waveform, the position of the rotor is obtained when
the signal is positive. The hall signals of two phases of
BLDC motor are given in Fig. 22.
Figure 23 shows the FFT of source current of BLDC
motor fed by matrix converter used to provide the har-
monic analysis. From the FFT analysis, source current
THD is calculated and found to be lesser as compared with
PWM inverter. Thus, it is obvious that the source current
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 Neural Comput & Applic

Fig. 21 Output current and

voltage waveforms of BLDC
Motor. a BLDC output current
waveform. b Line voltage
waveform of BLDC motor

Fig. 22 Pulses from the Hall

sensor of BLDC

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Neural Comput & Applic
Fig. 23 FFT of the source
current waveform of matrix
converter
harmonics are considerably reduced in the proposed system
with the use of MC.
6 Conclusion
In this paper, a novel Bacterial Foraging Algorithm opti-
mized online ANFIS controller is introduced for the speed
control of matrix converter-fed BLDC motor. Controller
design problem is formulated by minimizing ISE and
combined time integral performance measure. The pro-
posed control technique is demonstrated in MATLAB/
SIMULINK, and its performance is compared with con-
ventional PI, fuzzy logic control, PSO-ANFIS and BAT-
ANFIS. From the simulation results, it is obvious that the
proposed technique provide better set point tracking, better
tuning of learning parameters such as learning rate (g),
forgetting factor (k) and steepest descent momentum con-
stant (a) of online ANFIS controller and better time domain
specifications such as rise time, settling time, peak time,
steady-state error and peak over shoot. Moreover, the dis-
turbance rejection capability of the proposed scheme is
proved. Statistical performances of superior algorithms, i.e.,
BAT optimized ANFIS and BFOA optimized ANFIS for
100 independent trials are presented. Independent Samples t
test is carried out to validate the significant difference
between BFOA optimized ANFIS and BAT optimized
ANFIS. Comparative studies reveal that the proposed
BFOA optimized ANFIS gives consistent performance in
terms of lesser mean value of ISE and time integral per-
formance criteria. Experimental analysis is carried out to
validate the simulation results.THD is very much reduced
with proposed MC, as compared to existing PWM inverters.
Application of multi-objective evolutionary algorithms for
optimizing the parameters of ANFIS is suggested as a future
scope of the work.
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