Proceedings of the 2017 IEEE International Conference on Applied System Innovation

IEEE-ICASI 2017 - Meen, Prior & Lam (Eds)

Design and Implement of the Recurrent Radial Basis Function Neural

Network Control for Brushless DC Motor
Seng-Chi Chen 1,* and Chun-Yi Kuo 2
1,
* Department of Electrical Engineering, Southern Taiwan University of Science and Technology
1,
* Nan-Tai St., Yongkang District, Tainan 71005
1,* +886-9-81007867 amtfcsg123@stust.edu.tw

Abstract (RBFNN) have been successfully used to control highly

In this paper, intelligent PID neural network (IPIDNN)
controller based on a recurrent radial basis function neural
network (RRBFNN) for brushless dc motor (BLDCM) speed
control is proposed. First, the dynamic model of BLDCM
system is derived. Then, the PID controller with online tuning
using an RRBFNN is proposed to control the BLDCM for
improving speed tracking response. The parameter learning of
RRBFNN is based on the supervised gradient descent method,
using a delta adaptation law. Moreover, all the control
algorithms are implemented in a TMS320F28069 DSP-based
control computer. Finally, it is validated that the proposed
controller accomplishes the advanced control performance,
with low overshoot and reduced improved transient and
compared to the conventional PID method in the presence of
parameter uncertainties.
nonlinear system, and demonstrates faster convergence ability.
In this study, to speed up the neural network convergence
and obtain high control performance, we proposed intelligent
PID neural network (IPIDNN) controller based on the recurrent
radial basis function neural network (RRBFNN). Due to
recurrent neuron has an internal feedback loop, the recurrent
structure has been added into RBFNN to enhance ability of
dynamic mapping. The experimental results are provided to
show that the developed IPIDNN control scheme have
excellent robustness and dynamic behavior compared to the
traditional PID method by different speed tracking
performance.
2. Modeling of BLDCM drive system
Pdc Inverter Pi

T1 T3 T5 BLDCM
Key words: Brushless dc motor, recurrent radial basis function
ias R L ea Dynamic load
neural network, speed control TL PL
ibs R L eb
Vd Generator RL
1. Introduction ics R L ec
Te r

T4 T6 T2
In recent years, the brushless dc motor (BLDCM) drives
have been widely applied in electric vehicles, industrial Hall sensors
T1~T6
robotics, and washing machines, etc. Moreover, high
PWM scheme ias
performance BLDCM control system should have the ibs
ics
DSP-Based
characteristics of small overshoot, fast response, good tracking
precision and robust ant disturbance ability. However, the
BLDCM system is a nonlinear multivariable, time-varying Fig. 1. Equivalent circuit of BLDCM drive system
parameters, and complex system with unmeasured
disturbances. It is difficult to obtain a satisfactory performance The equivalent circuit of the BLDCM system is shown in Fig.
by only using linear control algorithms. 1, which consists of three Hall-effect sensors and an inverter
The traditional PID control scheme is widely used to control with six IGBTs as switching devices for commutation. Since
the BLDCM system due to its simple implementation, and the mutual inductance is negligible, the modeling equations are
effectiveness. However, for practical applications, the expressed as [3]
BLDCM system uncertainties and the external disturbance lead
to traditional PID controller pose a challenge. Thus, successful Va   R 0 0  ia   L 0 0  ia  ea 
using of the traditional PID method must require the V    0 R 0  i    0 L 0  d i   e  (1)
satisfactory tuning of parameters by the system dynamics of  b   b    dt  b   b 
the process. In order to overcome traditional PID controller Vc   0 0 R  ic   0 0 L ic  ec 
disadvantage, many literatures has been successfully proposed
new tuning rules [1][2]. In [1], the fuzzy logic rules are applied
d 1
for tuning the PI gains, is proposed. An adaptive PID controller r  (Te  TL  BM r ) (2)
with online adjust the control gains is developed in [2]. dt JM
In recent years, neural network control scheme, which the
greater advantage used arbitrary function approximation where Va , Vb , and Vc are voltages of phases a, b, and c,
mechanism to self-learning from observed information. In respectively; R is the stator winding resistance per phase; L
addition, NNC do not require information about the dynamics is self-inductance; ia , ib , and ic are the phase currents of
of the system or the capability to approximate nonlinear
systems. For example, the radial basis function neural network phases a, b, and c, respectively; ea , eb , and ec are the back

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 Proceedings of the 2017 IEEE International Conference on Applied System Innovation
IEEE-ICASI 2017 - Meen, Prior & Lam (Eds)

EMFs of phases a, b, and c, respectively.  r is the rotor speed; Ω IPIDNN (k )  U IPIDNN (k ), e(k ), e(k ) (4)
J M and BM are the inertia and friction constant of the Hidden layer: The hidden layer implements a radial
BLDCM, respectively. TL is the load torque; Te is the activated function, which composed of n basis functions are
electromagnetic torque. connected to the output layer. A node in the hidden layer
neurons map input vector X produces a greater output when
the input pattern presented is closer to its center, which is given
3. Controller Design
as
A. PID Controller
2
Ω IPIDNN (k )  c j (k )
In order to improve integral term saturation problem, the Γ j (k )  exp(    j Γ j (k  1))
2b 2j (k ) (5)
incremental PID controller is defined as
j  1, 2,  , m
uPID (k )  uPID (k  1)  K P e~P (k )  K I e~I (k )  K D e~D (k ) (3)
where c is called the center of the 𝑗𝑗th node; b is parameter
where e~P (k )  e(k )  e(k  1) ; e~I (k )  e(k ) ; ~
eD (k )  e(k ) that control the width of the RRBFNN center.  is the internal
feedback gain.
2e(k 1)  e(k  2) ; . If BLDCM parameters are accurately
Output layer: The network output layer of f IPIDNN
know, the traditional PID controller (3) with the offline tuned
control gains can provide satisfactory control performance. implement a linearly weighted sum of hidden nodes output are
However, the BLDCM system parameters gradually change defined as
during operating time, and KP、KI and KD are very difficult to
m
design overall. Therefore, to overcome this problem, the
IPIDNN based on RRBFNN is proposed in which the
f IPIDNN (k )   w (k ) (k )  wˆ (k ) fˆ
j 1
ij j i IPIDNN ( k )
(6)
RRBFNN is used to adjust PID control gains KP、KI and KD of
the BLDCM simultaneously. fˆIPIDNN (k )  S[ fˆIPIDNN (k  1)  f IPIDNN (k  1)]

B. RRBFNN Architecture where fˆIPIDNN is the output of the output layer feedback
neuron; wij and ŵi are the connective weights of hidden
fIPIDNN
neurons to output neuron and output feedback neuron to output
neuron, respectively; S (x) is sigmoid function, i.e.
Output
 wr z 1 Layer S ( x)  1 /(1  e  x ) ; 0    1 is the self-connection feedback
fr
gain.
z 1 S
w11 w12 w1n w1m C. Online Learning Algorithm

To obtain the online learning algorithm of the RRBFNN
1 2 n m using supervised gradient descent method, first the energy
Hidden
z 1 z 1 z 1 z 1 Layer function E IPIDNN is defined as:
   
1 1 2
E IPIDNN  (  f IPIDNN ) 2  eIPIDNN (7)
2 2

Based on the gradient descent method, the learning algorithm

Input of the weights, node center, and variance are adjusted using the
Layer following equations:

U IPIDNN (k ) e(k ) e(k ) wij (k  1)  wij (k )

  ln e IPIDNN (k ) j ( k )
Fig. 2. The architecture of RRBFNN
c ji (k  1)  c ji (k )
In this study, adopted of the RRBFNN architecture as shown  IPIDNN (k )  c ji (k )
in Fig. 2. The network is comprised an input layer, a hidden   ln e IPIDNN (k ) j (k ) wij (k )
b 2j (k ) (8)
layer, output layer. Each layer is expressed in detail below.
Input layer: The RRBFNN target of BLDCM system has b j (k  1)  b j (k )
three inputs by IPIDNN controller output U IPIDNN and motor 2
speed  , the vector form as following:  IPIDNN (k )  c j (k )
  ln e IPIDNN (k ) j (k ) wij (k )
b 3j (k )

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 Proceedings of the 2017 IEEE International Conference on Applied System Innovation
IEEE-ICASI 2017 - Meen, Prior & Lam (Eds)

where j  1, 2, , m ; i  1 , and  ln is a learning rate. ~ ~

K D (k )  K D (k  1)
Further,  / U IPIDNN is Jacobian transformation and can be m  c j1 (k )  U IPIDNN (k ) ~ (16)
derived from (5) and (6). Consider the following:   NN e(k )  w (k ) (k )
j 1
ij j
b 2j (k )
eD (k )



f IPIDNN 
m  c j1  U IPIDNN 

U IPIDNN U IPIDNN
 
j 1
wij  j 

 b 2j
 (9)


4. Experimental results

A. Experimental Setup
D. Design of an IPIDNN
The BLDCM speed control system with IPIDNN controller
The adjusting parameters of the PID controller minimize the is shown in Fig. 3. The experimental set is given in Fig.4,
square error between the rotor speed  and desired speed including inverter, control circuits, and DSP TMS320F28069.
command  r . The cost function ÊIPIDNN can be expressed as The DSP, TMS320F28069, provides 16-bit CPU with 90 MIPS
performance, 18 channels of PWM module, and 16 channels of
16-bit ADC, etc. The BLDCM parameters are listed in Table 1.
1 1
Eˆ IPIDNN  (r   )2  e2 (10)
2 2 
r e U IPIDNN
+ IPIDNN BLDCM
d
According to the error function from (10), the system control – dt

goal is Eˆ IPIDNN  0 . The parameters of PID controller can be KP KI KD
update and optimal tuned by following (11) to (13):
d RRBFNN
Eˆ IPIDNN (k ) dt
K P (k )   NN
K P (k ) Hall sensor
(11)
 (k ) ~
  NN e(k ) eP ( k )
U IPIDNN (k ) Fig. 3. BLDCM speed control system with IPIDNN
Eˆ (k )
K I (k )   NN IPIDNN
K I (k ) Inverter BLDCM Generator
(12) A

 (k ) B Overcurrent protection
  NN e(k ) e~I (k ) C Current detection
U IPIDNN (k ) D D/A Converter
E DSP F28069

Eˆ (k )
K D (k )   NN IPIDNN
K D (k )
(13)
 (k ) ~
  NN e(k ) eD ( k ) A
U IPIDNN (k ) B C

where  NN is adjust rate. It is difficult to calculate

 / U IPIDNN because of unknown plant dynamics. To E D
overcome this problem and to increase the online learning rate
of the connective weights, using the Jacobian formulation from
(9), Thus, the PID parameter can be update though iteration Fig. 4. BLDCM speed control system with IPIDNN
method and can be developed as
~ ~ Table 1. BLDCM parameters
K P ( k )  K P ( k  1)
Parameters Values
m  c j1 (k )  U IPIDNN (k ) ~ (14)

  NN e(k ) wij (k ) j (k )

 b 2 (k )
eP (k )


Rated power 746 W
j 1 j Input voltage 220 VAC
~ ~ 7.05 A
K I (k )  K I (k  1) Rated current
m  c j1 (k )  U IPIDNN (k ) ~ (15) Phase resistance 1.55 
  NN e(k )  w (k ) (k )
j 1
ij j
b 2j (k )
eI (k )


Phase inductance 7.36mH
Rated speed 3500 rpm
Slot/pole 12S/8P

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 Proceedings of the 2017 IEEE International Conference on Applied System Innovation
IEEE-ICASI 2017 - Meen, Prior & Lam (Eds)

B. Speed Dynamic Response Regulation responses:

Tracking responses:
Under this case, the desired speed  r is set to 1000, 2000
and 3000rpm, and the load resistance is RL  99.7 . The
experiment results of IPIDNN and PID controller for step
command change of 100rpm are given in Fig. 5 and 6,
respectively. It can be inferred from Fig. 5 and 6 that the
tracking performance of the traditional PID controller is
improved after the RRBFNN tuning law.
Under this case, the desired speed  r is set to 2000 and the
load resistance is RL  99.7 . The measured (  r ,  ) of the
proposed IPIDNN and traditional PID controller due to a step
resistance change from RL  99.7 to 49.7 are shown in
Fig.7 and 8, respectively. The results indicate that good
regulation responses can be observed by the IPIDNN controller.

r* 50rpm
 (PID Controller)

50rpm
2000rpm  (PID Controller)
1000rpm
r*
(a) 500ms
500ms
Fig. 7. Measured results of the BLDCM using PID controller
 (PID Controller) due to a step resistance change from RL  99.7 to 49.7 .

50rpm
2000rpm
r* r* 50rpm
(b) 500ms

 (PID Controller) 2000rpm  (IPIDNN Controller)

50rpm 500ms
3000rpm
r* Fig. 8. Measured results of the BLDCM using IPIDNN
controller due to a step resistance change from RL  99.7 to
(c) 500ms
49.7 .
Fig. 5. Measured results of the BLDCM using PID controller
due to a step cycle change of 100rpm, (a) 1000rpm; (b)
5. Conclusions
2000rpm; (c) 3000rpm.
This paper proposes the BLDCM speed control using IPIDNN
 (IPIDNN Controller) based on RRBFNN controller. By using the RRBFNN scheme,
the online tuning laws were proposed to auto adjust the PID
gains that can obtain satisfactory tracking and regulation
50rpm
1000rpm performance. The DSP-based drive system has been
r* implemented to verify the proposed scheme. Some
(a)
500ms
experimental results indicate the proposed IPIDNN controller
can be feasibly applied to BLDCM to achieve high
 (IPIDNN Controller) performance.
References
50rpm
2000rpm [1] J. W. Jung, Y. S. Choi, V. Q. Leu, and H. H. Choi, “Fuzzy PI-type
r* current controllers for permanent magnet synchronous motors,” IET
(b) Electr. Power Appl., vol. 5, no. 1, pp. 143–152, Jan. 2011.
500ms [2] J. W. Jung, V. Q. Leu, T. D. Do, E. K. Kim, and H. H. Choi,
“Adaptive PID Speed Control Design for Permanent Magnet
 (IPIDNN Controller) Synchronous Motor Drives,” IEEE Trans. Power Electron., vol. 30,
no. 2, pp. 900-908, Feb. 2015.
[3] Jung S-Y, Kim Y-J, Jae J, Kim J, “Commutation control for the
50rpm
3000rpm low-commutation torque ripple in the position sensorless drive of the
 *
r
low-voltage brushless DC motor,” IEEE Trans Power Electron, vol.
(c) 29, pp. 5983-5994, Nov. 2014.
500ms
Fig. 5. Measured results of the BLDCM using IPIDNN
controller due to a step cycle change of 100rpm, (a) 1000rpm;
(b) 2000rpm; (c) 3000rpm.

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