1st IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES-2016)
Speed Control of a BLDC Motor
using Fuzzy Logic Controller
Adil Usman l and Bharat Singh Rajpurohit2
'Student Member, IEEE, School of Computing and Electrical Engineering, Indian Institute of Technology Mandi
2Senior Member, IEEE, School of Computing and Electrical Engineering, Indian Institute of Technology Mandi
E-mail: .adilusman@ieee.org
Abstract-The speed control of the Permanent Magnet
Brush Less Direct Current (PMBLDC) Motor is of high
importance since it indirectly controls the mechanical output
required and hence the efficiency. The control on this
parameter has been demonstrated in various papers using
various controllers like PWM, PI, Fuzzy and Neural
Networks (NN) etc. In this paper an attempt has been made
to analyze the result of PI Controller, by using the
appropriate Kp and K j value in order to get the constant
control on the speed of a Brush Less Direct Current (BLDC)
motor. Further an attempt as an assessment has been made
in designing an alternative controller to minimize steady
state error and obtain better result for the control of the
speed parameter of a BLDC Motor. A Fuzzy Logic
Controller (FLC) has been designed to compare the PI
Controller output with the FL Coutput. The results are then
compared and analyzed. It is thereby concluded that the
FLC offers better adaptability than the normal linear PI
controller and that the PMBLDC drive offers better steady-
state and dynamic performances.
Keyword-Fuzzy Logic Controller (FLC); Permanent
Magnet Brush Less Direct Current (PMBLDC); Permanent
Magnet Synchronous Motor (PMSM)
I. INTROD UCTION
Nowadays the use ofBLDC motor instead of brushed
DC motor has increased in number of power electric drive
applications. BLDC motor comprise of sinusoidal
(PMSM) or trapezoidal (PM BLDC) motor, depending
upon the rotational voltage (back EMF) induced. Due to
the fact of recent advancements in technology, these
motors which are categorized as special electrical motors
are much more suitable for efficient drive operation. These
motors are characterized by a much higher efficiency,
greater reliability, and more power density requiring less
maintenance. Due to the fact that PM BLDC has higher
torque delivered to motor size ratio, high efficiency and
long life; these motors find their application in various
electrical systems depending upon the requirements. In
this context it can also be noticed that from last few years,
research in this area have experienced an expansion.
Balogh et. al [1] and Hong Wonbok, et.al [2] in their
paper proposes the modeling of a BLDC motor along with
the simulation analysis in the MA TLAB tool. BLDC
motor drives model is developed considering the behavior
of a motor during commutation and waveform of back-
978-1 -4673-8587-9/16/$31 .00 ©2016 IEEE
EMF for dynamic simulation . Cahin, Murat et al. [3] in
their paper emphasizes on the new technique of
co-simulation study of BLDC Drive. Labview and
Multisim programs are used as a platform performs co-
simulation studies on the BLDC model. Samitha Ransara,
H. K. , and Udaya K. Madawala [4] presents a new buck
converter based modeling technique for Brushless DC
(BLDC) motor drives which has reduced computational
complexity, better performance and low cost. While Zhao
Long, et.al [5] presents a strategy for the control of torque
using current observer and state feedback control
algorithm for a BLDC motor.
The desired level of performance from BLDC motor
could be achieved by the use of suitable speed controllers
in the overall electric drive-system. Many controllers like
PI, FLC and NNare available for the speed control of such
electric drives [6]. The Proportional plus Integral (PI)
controller; is the most commonly used standard controller
applicable for speed control of electrical drives. Due to the
simple control structure and ease of implementation; PI
controllers are widely used in the industrial sector. These
controllers at the same time pose some difficulties such as
control complexity nonlinearity, load disturbances and
parametric variations [7].
The use of faster dynamic response controller in motion
control like Artificial Intelligence (AI), Adaptive Neuro-
Fuzzy Inference Systems (ANFIS); is the substitution of a
standard (PI) controller. FLC speed controller is one the
frequently accessed controller used for the speed control of
an electric drive. Fuzzy logic speed control can sometime be
seen as the ultimate solution for high-performance electrical
drives [8]. PI controller when compared with these recent
emerging controllers, found to be comparatively inefficient.
The reason for low efficiency in the PI controller is the high
overshoot from the reference point, which leads to transients
and large delay time to get into steady state. The slow
response on the sudden change of load torque and the
sensitivity to controller gains (Kpand K;) are the other reasons
for the obsoleteness of PI controllers [9]. This has resulted in
the increased demand of modern nonlinear control structures
like Fuzzy logic controller. These controllers are inherently
robust to load disturbances. BLDC motors being non-linear
in nature can easily be affected by the parameter variations
and load disturbances [10].
[1]
 1st IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES-2016)

Papers [11]-[12] discussing detail about the working The speed controller provided is generally a PWM
and construction of PMBLDC with varying alignment of controller as shown in Fig. I. In context to this, the BLDC
winding configurations trapezoidal and sinusoidal back motor is considered as an equivalent to an inverted DC
EMF. The voltage and torque equations can be derived from commutator motor in which the conductors remain
these papers further which are discussed in this paper too. stationary while the magnets rotates [13]. Fig. I. shows the
Where paper [13]laid more stress on Hall Effect Sensors for basic BLDC motor model of electrical drives with a PWM
a BLDC motor analysis, paper [14] describes about the control system based on which the following equations are
speed control ofBLDC using FLC control algorithm. derived.
N. Parhizkar et. al [15] in his paper describe in detail Modeling of a BLDC is similar to that of synchronous
about the torque control strategy for a given BLDC motor machines. The motor is fed by a three-phase voltage
explaining the use ofFLC for different logical approaches. source inverter. Square or sinusoidal wave shape can be
Paper [16] compares the performance of a BLDC motor applied as the input voltage since the peak voltage does
by a comparative study of PI and FLC. Certain approach not exceed the maximum limit of the motor. Similarly, the
has been found common as can be seen in [17] where model of the armature winding for the BLDC motor is
some simulations have been performed and demonstrated expressed as:
using both PI and FLC but with certain drawbacks which Va=Rala+L(:;)+Ea (1)
are overcome in this paper.Some algorithms are advanced
and offer better steady-state and dynamic performances Vb dEb) + Eb
= Rblb + L (dt (2)
which are illustrated too in this paper.
Vc=Rele+L(:;)+Ee (3)
II. DYNAMIC MODEL AND STRUCTURE where,
OF A PERMANENT MAGNET BLDC MOTOR Va' Vb' Vcare the phase voltages
la' lb' Ie are the phase current
The BLDC motor also referred as an electronically
Ea, Eb, Eeare the back EMFs
commutated motor have no brushes on the rotor and the
The back EMFs can be expressed as,
commutation is performed electronically at certain rotor
positions [12]. The windings of the stator phase can be Ea = KewmF(8e) (4)
2n:
configured in multiple ways. It could either be inserted in Eb = Ke wmF(8 e -"3) (5)
2n:
the slots of the stator or can be wounded as one coil on the ~=~~F~+~ W
magnetic pole. Since it is known that the back EMF of a
where,
BLDC motor is Trapezoidal in nature, therefore the
W m is Angular speed of rotor.
magnetization of the permanent magnets and their
8 m is Mechanical angle of rotor.
displacement on the rotor are chosen accordingly.
8 e is Electrical angle of rotor.
Henceforth a rectangular shape, three-phase voltage
F(8 e) is Back-EMF reference function of rotor
system is developed to create a rotational field with low
position.
torque ripples. Also the trapezoidal back EMF with square
wave currents, generate the constant torque. As it is III. BLDC SPEED CONTROLL ERS
generally observed that in a conventional BLDC motor
There are several controllers available nowadays like
drive the motor is driven via a six-switch three phase proportional integral (PI), proportional integral derivative
inverter which is connected to the stator windings of the (PID) Fuzzy Logic Controller (FLC) or the combination
motor. The commutation is provided by three Hall-effect between them: Fuzzy-Neural Networks, Fuzzy Genetic
position sensors which provide six commutation points for Algorithm, Fuzzy-Ants Colony, Fuzzy-Swarm. But as
each electrical cycle. within the scope of this paper the discussion on the PI and
Fuzzy Logic Controller will be discussed as below.

I~
3 Phase Voltage BLOC Motor
Sourc e Invert e r

.wM,cr:~ A. PI Speed Controller

". T (Gt -flt----'t-----oI I

~
ii
JI~
I I ~~~~
A Proportional Integral (PI) is a feedback control loop
mechanism used in electrical control system. PI Controller
finds its applications in many industrial processes where a
controller attempts to correct the error between a
- Co;:;-tr.;! Sy-;te;;:; - I (E)""':
"0_"..8
,--,+_ _ N:
measured process variable and reference set point. The
algorithm involves a calculation and outputting of a
S CUm

S : N

Halle ' corrective action which is done in order to adjust the

1_ .
M echa n ical System
process accordingly. The PI controller, as the name
indicates, involves two separate modes that are: the
Fig. I: BLDC Motor Model of Electrical Circuits [13] proportional mode and integral mode. The proportional

[2]
 1st IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES-2016)
mode determines the reaction to the current error whereas
the integral mode determines the reaction based recent
error [6]. Due to its simple structure and ease of use; PI
controller is widely used in industry.
Fig. 2. describes the PI Controller based PMBLDC
drive. The drive consists of speed controller, reference
current generator, PWM current controller, position
sensor, the motor and IGBT based current controlled-
voltage source inverter (CC-VSI).
Rotor Position Feedback
Fig. 2: Block Diagram ofa BLDC Motor with Controller Scheme
The speed of the motor is compared with its reference
value and the speed error is processed in proportional-
integral (PI) speed controller. The flowchart in Fig. 3
shows the speed control algorithm of a BLDC Motor. The
speed loop of the typical BLDC motor is generalized in
this flowchart and is common for any type of controllers
used [16].
B. Fuzzy Logic based Speed Controller
Start
YES
Acceleration
Fig. 3a: Basic Flow Chart ofBL DC Motor Speed Control
Non-Linear Systems can be very easily modeled by
Fuzzy Logic Controller (FLC). The conventional control
system design is usually based on the mathematical model
[3]
of plant which is generally complex mathematical
equations. On the other hand, FLC expresses operational
laws in terms oflinguistics terms instead of mathematical
equations [ll].Sometimes it has been experienced that
there are many systems which are too complex to model
accurately, even with complex mathematical equations;
therefore conventional methods become infeasible in these
systems. Henceforth, fuzzy logics linguistic terms provide
a feasible and easy method for defining the operational
characteristics of such system to design and implement
[15]. The generalized block diagram of a BLDC Motor
with a controller as shown in Fig. 2, can be replaced by
any other controller as required. Any control mechanism
can be adopted in the system such as PI, PID or Fuzzy
Logic Controller which will be suitable to maintain and
control the speed of the BLDC Motor.
The section ahead explains the Simulink model of a
BLDC Motor with a PI and a Fuzzy Logic Controller
along with the simulations results which is discussed in
section IV.
IV. SIMULATION AND RESULTS
Simulink model of a Permanent magnet BLDC Motor
with the PI controller is designed in a Matlab Simulink
tool. The Simulink model consists of a 3phase supply via
inverter and a BLDC motor. The model is coupled with a
PI Controller for the speed control of the motor.The above
model has been designed using the following parameters
as shown in Table I.
TABLE I : P ARAMETERS CHART
Parameters Value
Speed (N in RPM) 1500
Voltage (Vin volts) 160
Poles of the Motor (P) 4
Motor phases (<p) 3
Stator Phase Resistance (Rs in ohm) 0.7
Torque Constant (k) 0.84
Load Torque 2 N-m
Back EMF area (degree) 120
Rotor Initial Position (8 in degrees ) 0
Kp=Proportional Constant 0.002
Ki=Integral Constant 5
The Simulink model is been a given a Run Time of
0.5 seconds and the system is simulated for different
values of the parameters as shown above.
A. PI Controller
The Simulink model of the BLDC Motor with a PI
Controller has been shown in Fig. 3. The model is a
MA TLAB Simulink model with the PI Controller;
controlling the speed of the motor. The model consists of a
voltage source inverter, a BLDC Motor and the speed of
1500 rpm is set as the reference value. The BLDC motor
follows the same operation principle as discussed in
section II.
 1st IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES-2016)

The following results were observed on running the /1A ex) = max(min(x-a, ~~\ 0)(7)wherea,b,c are
b-a c-b
PI Controller based PM BLDC motor. scalar parameters
Fig.3.(b), (c) and (d) shows the speed torque and TABLE 2 : ERRORS AND CHANGE IN ERROR AS INPUT TO THE FLC
current output of the BLDC controlled by PI controlled
Error (e) Change in Error (ee) Output
mechanism. It can be observed that the speed of 1500 rpm
1500-1507 1500-1507 0
is maintained after certain delay after which the speed 1507-675 1507-675 0-76
remains constant throughout. The torque obtained is in the 675- 150 675-150 76-127
range of l.5 to l.6 Nm. The Controller thus designed with 250-150 250-150 97-127
the specific constant value of Kp and Ki gives the desired 150-1 S 150-1S 127-135.7
IS-1.5 IS-1.5 135.7-136.7
result which is verified.
1.5-0 1.5-0 136.7-136.9

~~
~ ' ••••~
I .•• • • • ~
l : • •~: •.•• .•.•~
j •••• •••• • • The inputs to the FLC are error (e) and change in
error (ce) while the output obtained is active component of
current. Table II shows the inputs and outputs of the FLC.
o ~ ~ " u g u g
Time (sec)
Both ' e' and ' ce' are converter from continuous data to
Fig.3b: Rotor Speed Observed to be Constant using PI fuzzy data by using seven membership functions. The
20 ,r-----.------.------.-----~----~
membership functions used is triangular in shape due to its
advantage of having simplicity in construction. The seven
_ 15 membership functions are named as ' NB' -Negative Big,
E
,; 'NM' -Negative Medium, 'NS ' -Negative Small, ' ZE' -
[10 Zero, 'PS' -Positive Small, 'PM'-Positive Medium, ' PB' -
>- Positive Big. The discrimination of membership functions
are done on the basis of different range of values for ' e'
.'l 5U ~~\Ulli\j and ' ce' . The output of fuzzy logic controller is calculated
Ol~--~~----~----~~----~----~ using Table III. For seven membership function of each
o 0.05 0.1 0.15 0.2 0.25
Time (sec) input, the output will be 49. For suitable values of inputs,
Fig. 3c: Motor Torque Obtained using PI Controller an output is found from Table III. Since FLC is designed
by expert knowledge and does not involve any

~~
mathematical modeling of the system, therefore both the
above numerical input and output variables are converted
to linguistic variable by a process called Fuzzification
• ~ ~ " u g U
using seven fuzzy sets.
Time (sec)
Fuzzy sets of error and change in error are combined
Fig. 3d: Stator Current with PI Controller to produce rules for the system. These rules are known as
B. Fuzzy Logic Controller rule base of the system which is shown in Table III.
Through the knowledge of fuzzy; an inference is drawn
The Simulink model consists of the same components which gives the output of the system.
as above; a 3-phase supply via inverter and a BLDC Based on the above look up table, a BLDC model
motor.The FLC has been designed using the input and using FLC has been developed in a MATLAB Simulink
output parameters of the PI controller; which has Member tool and the simulation is carried out.
TABLE 3: RULE BASE MA TRIX FOR OUTPUT
functions as 7 and type of functions used is triangular. The
formation ofFLC involves:- e/ce NB NM NS ZE PS PM PB
NB NB NB NB NB NM NS ZE
C. Formation of Fuzzy Logic Controller NM NB NB NB NM NS ZE PS
NS NB NB BM NS ZE PS PM
1.
Seven fuzzy sets for both inputs and outputs ZE NB NM NS ZE PS PM PB
2.
Fuzzification of inputs using continuous universe PS NM NS ZE PS PM PB PB
of discourse PM NS ZE PS PM PB PB PB
PB ZE PS PM PB PB PB PB
3. Connotation using Mamdani' s 'min ' operator
4. Defuzzification using ' centroid' method Fig. 4 shows the PM BLDC Simulink model with a
FLC and the simulation results for the same have been
Triangular membership function is based on equation
shown ahead. The simulations results comprise of speed,
of straight line which for the ease of computation is used
torque and current characteristic curve of a BLDC motor
to design fuzzy sets. This triangular curve can be with FLC. These results are further compared with the
represented as results obtained with PI controller.

[4]
 1st IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES-2016)

V. CONC LUS IONS

The speed control of a Permanent Magnet BLDC
Motor is presented in this paper, using both PI controller,
I-,S., and Fuzzy Logic Controller. The paper explains about the
performance analysis of a BLDC Motor in brief Further a
comparative study has been discussed between the PI
controller and Fuzzy Logic controller used on the
MA TLAB Simulink tool for the speed control of a BLDC
o
motor. The results obtained using both the controllers
Fig. 4a: Simulation Mod el of the Speed Control of BLOC using FLC separately are then compared and analyzed to evaluate the
speed controllers' performance. The inference which can

~t:. :. .:..t... :. :. : . I. : . :. :. t. :.:.: . :. t..: . : .: . I. . : . .:: . t:. . . ::..j

3000
be concluded after comparison is that speed control of
BLDC using Fuzzy Logic Controller has better
o oos 01 015
T_I'tc)
02 025 03 035
performance. To add current control function to the
proposed speed controller in order to keep the current
Fig. 4b: Rotor Speed Observed to be Constant with FLC
within a certain range for a specific speed, could be a

Il
work for future. The proposed future work would thereby
enhance the motor start-up current, reduce the motor
o
I
DOS 01
I 01!i
I 02
I 025
I 03 035
I 04
I I
O"!i 05
I I
current ripples and overall enhance the motor torque
r ..... (.tcl
characteristics performance. Current control methodology

.
Fig. 4c: Motor Torque for a BLOC Motor with FLC will also reduce the speed and torque variations caused
due to any sudden changes in the motor current value .
2 ............. : ....................... j........................ ~ ....................... :........................ f ......................

~~
-4 005 01 015 02 025 03
ACKNOWLEDGEMENT

Timl(.K) The author would like to thanks the Department of

Fig. 4d: Stator Current in a BLOC motor using FLC Electronics & Information Technology (DeitY)and Naval
Research Board,for financial support.
In Section IV two controllers: PI and FLC are used
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