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Chapter 1
Introduction
1.1 Overview
Now a days, BLDC motor becomes very important in markets and widely used in
automotive, computer, industrial, aerospace etc. DC motor need brushes for commutation,
but The BLDC motor does not needs any brushes for commutation, because the BLDC
motors are electronically commutated. BLDC motors have several advantages over
brushed dc motor such as high reliability and efficiency, lighter and smaller, lower
acoustic noise, greater dynamic response, better speed vs. torque characteristics, longer
life and higher speed range.

Permanent magnet brushless DC motor speed control is a nonlinear, multivariable, time-

varying system and the parameter tuning is too difficult. When we use the conventional
controller, it is difficult to meet the requirements. Due to these results, we use the
intelligent controllers. Since 1965, the University of California cybernetics expert Zadeh
proposed fuzzy since its theories and methods of improving, just a few decades, and the
fuzzy control is widely used in the natural, social sciences and engineering control field.
Fuzzy logic has a natural language skills similar to the human brain, is very suitable for
nonlinear systems. Fuzzy logic control does not depend on the accurate mathematical
model of the controlled object, it is possible to overcome the influences of nonlinear
factors on the adjustment object parameter changed have robust, but the summary of
fuzzy rules and fuzzy membership tuning function rely mainly on experience, greater
subjectivity.

Fuzzy logic is a mathematical framework for dealing with uncertainty and imprecision in
decision-making. Unlike classical logic, which is binary and relies on true or false values
(0 or 1), fuzzy logic allows for a more gradual, nuanced representation of truth. In fuzzy
logic, truth values are expressed as degrees of membership in a fuzzy set, which can take
values between 0 and 1. This makes it suitable for modeling systems where the
boundaries between categories are not well-defined.

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1.2 Problem Formulation

Develop a Fuzzy PID controller to enhance speed control in a brushless DC motor facing
varying load conditions. Address challenges of nonlinearity and adaptability, focusing on
effective integration of fuzzy logic into the PID algorithm. Evaluate the controller's
performance using metrics like settling time and overshoot, comparing it with a
traditional PID controller.

1.3 Objectives
1. To evaluate the speed regulation performance of a Brushless DC motor using
Conventional PID and Fuzzy PID controllers under varying operating conditions.
2. To analyze the transient response characteristics of both Conventional PID and Fuzzy
PID control strategies.
3. To assess the stability and robustness of the control systems in the presence of
uncertainties, non- linearities and external disturbances.

1.4 Advantages
In the context of determining the speed response of a BLDC (Brushless DC) motor, a
Fuzzy PID controller can offer some advantages over a conventional PID controller:

1. Nonlinear Systems and Variability:

BLDC motors may exhibit nonlinear behavior and have varying parameters due to factors
like load changes or external disturbances. Fuzzy logic can handle such nonlinearities and
uncertainties more effectively than a conventional PID controller. The fuzzy PID
controller's adaptability allows it to adjust the control action based on the changing
dynamics of the motor.

2. Complex Systems:

In cases where the BLDC motor control system is complex or has multiple
interacting variables, a Fuzzy PID controller can model and control the system more
intuitively. Fuzzy logic allows for the inclusion of linguistic rules that can capture expert
knowledge or heuristics, making it easier to represent and control complex systems.

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3. Improved Robustness:

Fuzzy PID controllers are often more robust in the face of parameter variations and
uncertainties. The ability to adapt and self-adjust based on the system's real-time behavior
allows for better performance in scenarios where the BLDC motor experiences varying
loads or other external disturbances.

4. Handling Ambiguity:

Fuzzy logic excels in handling ambiguous or imprecise information. This is beneficial

when dealing with motor characteristics that may not be precisely defined or where the
relationship between control inputs and motor responses is not clear-cut.

5. Human-Like Decision Making:

Fuzzy logic enables a more human-like decision-making process by incorporating

linguistic rules and fuzzy sets. This can be advantageous when the control system needs
to mimic human reasoning, especially in situations where expert knowledge plays a
crucial role.

1.5 Future Scope

The future scope lies in optimizing the fuzzy PID controller parameters for enhanced
BLDC motor speed response, exploring real-time implementation challenges, and
assessing its adaptability to dynamic load variations for practical applications.
Additionally, investigating hybrid control strategies and evaluating energy efficiency
could further enrich the comparative study.

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Chapter 2

Literature Survey
[1] Akash Varshney, Deeksha Gupta, Bharti Dwivedi, “Speed response of brushless DC
motor using fuzzy PID controller under varying load condition” Journal of Electrical
Systems and Information Technology 4.2 (2017), Review: This paper presents a detailed
study on the performance of a BLDC motor supplying different types of loads, and at the
same time, deploying different control techniques. An advance Fuzzy PID controller is
compared with the commonly used PID controller. A model is developed in this paper for
BLDC Drive using MATLAB/SIMULINK to analyze its performance with PID controller
and with Fuzzy PID Controller when the motor is subjected to the most commonly
encountered sudden load variations as well as gradual load variations under constant
speed operation.

[2] AM Abdel Ghany, “Different techniques of self-tuning FOPID control for Brushless
DC Motor Eighteenth International Middle East Power Systems Conference (MEPCON)
IEEE, 2016, Review: This paper presents comparative study of the Classical Proportion
Integral Derivative Controller (PID) and Fuzzy self-tuning PID for speed control of
BLDC. With rising complexity and accuracy of control systems, only using FLC or PID
cannot satisfy the required operating conditions for such speed control of such type of
machines. Fuzzy self-tuning PID controller is presented as a solution of this problem. The
design of speed controller system of BLDC motor using the PID and Fuzzy PID
controller has been presented. The results of the simulation shown that the Fuzzy PID
controller has a better performance, including a fast response speed, a small amount of
overshoot, improve control accuracy and enhanced system robustness.

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[3] Shamseldin, Mohammed Abdelbar, and Adel A. EL- Samahy, “Speed control of
BLDC motor by using PID control and self-tuning fuzzy PID controller” 15th
International Workshop on Research and Education in Mechatronics (REM). IEEE, 2014,
Review: This paper presents the design of speed controller system of BLDC motor using
the PID and Fuzzy PID controller. Because of advantages of BLDC motor, including high
accuracy, low volume, and clear control characteristic is still using in a wide range of
industrial application. With rising complexity and accuracy of control systems, only using
FLC or PID cannot satisfy the required operating conditions for such speed control of
such type of machines. Fuzzy self-tuning PID controller is presented as a solution of this
problem. Fuzzy self tuning PID improves the overall system performance including time
response. The modeling, control and simulation of BLDC motor have been done using
MATLAB.

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Chapter 3

Methodology

Fig. 1: Block diagram of BLDC motor drive

A Brushless DC (BLDC) motor drive is an electronic system that controls the operation
of a BLDC motor. The block diagram of a typical BLDC motor drive consists of several
key components that work together to regulate the motor's speed and direction. Here's a
simplified explanation of the block diagram:

1. Power Supply: The power supply provides the necessary voltage and current to the
motor drive circuit.

2. Motor Drive Controller: The motor drive controller is the brain of the system. It
receives input signals, such as speed and direction commands, and processes
feedback from the position sensors. Based on this information, the controller
generates the appropriate signals to drive the power stage and control the motor.

3. Voltage Source Inverter (VSI): VSI in a BLDC motor drive converts DC power
from a source into controlled three-phase AC power. This AC power is applied to
the windings of the BLDC motor, creating a rotating magnetic field that drives the
motor. The VSI operation, governed by a controller and synchronized with rotor
position feedback, allows for precise control of motor speed and direction.

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4. BLDC Motor: It converts electrical energy into mechanical motion. A BLDC motor
operates by electronically commutating its stator windings based on rotor position
feedback, generating a rotating magnetic field that propels the motor's rotation for
various applications.

5. Triggering signals: Triggering signals in a BLDC (Brushless DC) motor drive refers
to the control signals that determine the switching states of the power electronic
devices (typically IGBTs or MOSFETs) in the inverter stage. These signals are
responsible for energizing the motor phases in a specific sequence, creating a
rotating magnetic field. The triggering signal is generated by the motor drive
controller based on the rotor position feedback, allowing precise commutation and
control of the BLDC motor's speed and direction.

6. Hall sensor: Hall sensors in a BLDC motor drive detect the rotor's magnetic field.
The sensor signals convey rotor position information to the controller. Ensures
accurate timing of current switching to maintain smooth rotation and control speed .
The controller interprets this feedback to determine precise commutation timing.
This allows the BLDC motor drive to maintain efficient and controlled rotation,
ensuring accurate speed and direction regulation.

7. Rotor position sensor: A rotor position sensor in a BLDC motor drive, like Hall
sensors, detects the rotor's magnetic field. It relays this information to the controller,
enabling precise commutation timing for efficient and controlled rotation in the
motor. The controller adjusts power delivery based on real-time rotor position
feedback for accurate speed and direction control.

By coordinating the operation of these components, the BLDC motor drive system
provides efficient and precise control over the BLDC motor's speed and direction,
making it suitable for various applications such as electric vehicles, industrial
automation, and consumer electronics.

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Fig. 2: BLDC Simulink model with PID controller.

In a Simulink model of a BLDC motor with a PID controller, the BLDC motor dynamics
are represented through mathematical equations, and a PID controller block is integrated
into the model. The PID controller receives feedback from the motor model, compares the
actual speed with the desired set point, and adjusts the control signal based on the
Proportional, Integral, and Derivative components. The closed-loop system aims to
regulate the BLDC motor speed by continuously minimizing the speed error. The
simulation allows for the analysis of the motor's response to changes in the reference
speed set point, and tuning PID parameters ensures optimal performance in achieving and
maintaining the desired speed. The integration of Simulink's visualization tools facilitates
the analysis of key variables, aiding in the fine-tuning of the PID controller for effective
closed-loop speed control.

Conventional PID Controller Approach

The control action of the PID controller is expressed in Equation (1).
U(t) = Kp e(t) + Ki ∫e(t)dt + Kd de(t)/dt (1)

Where U(𝑡) is the control signal, e(𝑡) is the error between reference speed and actual
speed, 𝐾𝑝 is the proportional gain, 𝐾𝑖 is the integral gain, and 𝐾𝑑 is the derivative gain.
The values of the PID controller parameters used for this design is Kp = 0.013, integral
gain, Ki = 30, and derivative gain, Kd = 0.0001

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Chapter 4
Expected Outcome

Fig. 3: (a) Speed response curve (b) current response curve (c) torque response curve with PID
controller under sudden application and removal of load.

During time interval from time t =0s to 0.1 s, the motor is kept under free running
condition. In case of sudden change in load, a step load of magnitude of 3 Nm is
applied at time t = 0.1s and it is suddenly removed at a time t = 0.4s. Whereas, in
gradual change in load, the load is varied in three segments. From time t =0.1s to t =
0.2s, the load is linearly increased from 0 Nm to 3Nm. Then from time t = 0.2s to t =
0.3s, the load is maintained constant at 3Nm. Further , from time t = 0.3s to t = 0.4s,
the load is linearly decreased from 3Nm back to 0Nm.

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Bibliography
Textbooks:
[1]

Publications:
[1] Varshney, Akash, Deeksha Gupta, and Bharti Dwivedi. “Speed response of brushless
DC motor using fuzzy PID controller under varying load condition.” Journal of
Electrical Systems and Information Technology 4.2 (2017): 310-321.
[2] AM Abdel Ghany. “Different techniques of self-tuning FOPID control for Brushless
DC Motor.” Eighteenth International Middle East Power Systems Conference
(MEPCON). IEEE, 2016.
[3] Shamseldin, Mohammed Abdelbar, and Adel A. EL- Samahy. “Speed control of
BLDC motor by using PID control and self-tuning fuzzy PID controller.” 15th
International Workshop on Research and Education in Mechatronics (REM). IEEE,
2014.

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