ANFIS-Controlled Voltage Source for Vigorous
Speed Control of BLDC Motor Drive for Utilization
in Smart Electric Vehicles
2022 2nd International Conference on Emerging Frontiers in Electrical and Electronic Technologies (ICEFEET) | 978-1-6654-8875-4/22/$31.00 ©2022 IEEE | DOI: 10.1109/ICEFEET51821.2022.9847996
Harshwardhan Soni
Electrical Engineering department
National Institute Of Technology
Srinagar, Uttarakhand, India
harshwardhan256@gmail.com
Abstract—Technology is advancing at a very fast pace newer
and better types of machines are being evolved. Initially, we had
the DC motor but now we have a new generation of DC motor
called brushless DC motor (BLDC). This has all the advantages
of a dc motor with none of the disadvantages like commutation
loss or sparking due to the commutation process. In this paper,
we have devised a way for speed control of BLDC motor. The
research is not limited to only tracking a single reference point
but a fast-changing set of references. This is done to simulate
real-life conditions where an electric vehicle that uses BLDC
motor for mobility as on roads, we are certain to face sudden
speed changes so the speed control system should be robust to
be able to undergo such changes. Here we have used two types
of controllers for controlling the voltage input to the motor. This
includes a PID controller and a new improved which has a
combination of both neural and fuzzy i.e., ANFIS controller.
Transient response characteristics of both the controlling
system are compared. A quasi-iterative process is used for
tuning PID parameters. In conclusion, we can see that the
ANFIS controller is better because it is easier to implement and
has robust convergence characteristics. For simulation
purposes, we have used a permanent magnet synchronous motor
with a change in the back-emf waveform from the sinusoidal to
the trapezoidal waveform.
Keywords—BLDC motor, Multi-reference point speed control,
ANFIS controller, Quasi-iterative technique, Robust system for
practical application. Smart electric vehicle
I. INTRODUCTION
In today’s ever-evolving world nothing is constant initially
we had a direct current (DC) motor then came the Induction
motor with the invention of alternating current (AC) current
then came the all power full synchronous motor. Now AC is
most prevalent so we needed a motor which has all the good
capabilities of a DC motor like good speed control etc. but
without the negatives like commutation losses, high
maintenance etc. So, we get the Brushless direct current
motor (BLDC) which uses inverters for commutation
purposes instead of mechanical commutation circuits present
earlier in the DC motor. Further, there are many advantages
of BLDC motor over DC some of them are:
1. Radiofrequency and electromagnetic interferences are
minimized.
2. Runs at a speed much higher than obtained in a
conventional DC motor.
3. BLDC motors are more efficient.
The goal of this study is to outline how an Adaptive Neuro-
Fuzzy Interface System (ANFIS) controller can manage the
speed of a Brushless DC Motor (BLDC) drive. Many studies
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V.G. Durgarao Rayudu
Electrical Engineering department
National Institute Of Technology
Srinagar, Uttarakhand, India
venu.rayudu@nituk.ac.in
highlight the use of the ANFIS controller as it decreases Total
Harmonic Distortion (THD) and this approach decreases
power quality concerns in the system[1]. With the use of
convex optimization under the guidance of linear-matrix-
inequality constraint we get a fast response with reduced
overshoot when there is excessive speed variation during
speed tracking [2].
With increasing environmental concerns and ecological and
monetary reasons electric vehicles (EV) are certainly the best
so for EVs, there are two choices of motors present they are
BLDC and induction but in the Indian market, we see
increasing use of BLDC motors. With artificial intelligence
creeping its way into the transportation sector we need self-
driving vehicles, vehicles that divert collisions and
automatically non-linearly control the speed of the car [3].
For the application of the ANFIS controller we need training
data that is provided by a fine-tuned proportional integral
derivative controller (PID), there are many techniques
mentioned for tuning one of the techniques is how a
Longhorn Beetle searches for aroma and the optimized path
it follows to reach that aroma using its antenna as sensors this
approach is called meta-heuristic approach for PID tuning
[4]. Here we have used modified Ziegler-Nichol’s technique
for tuning PID[5].
Because of the bothersome aspects of the engine, idle speed,
such as severe process inhomogeneity, variable time delay,
temporal changes, and unquantifiable system states,
designing fuzzy if-then rules and tweaking membership
functions are challenging tasks. To address this critical issue,
researchers investigated an electronic throttle idle speed
control strategy based on an adaptive network-based fuzzy
inference system (ANFIS), which could be used when a
BLDC motor is running on no-load, or when a vehicle is at a
standstill but the ignition is still turned on in an EV [6] For
simulation purposes a BLDC motor can be considered as a
permanent magnet synchronous motor (PMSM) with only
difference arising in back emf waveform where BLDC has
trapezoidal back emf, as a standard practice to control PMSM
drive we use vector control method where the outer speed
loop has a significant impact on the drive's performance.
Thus, Hybrid fuzzy-PI controllers are used to combine the
benefits of both proportional plus integral (PI) and fuzzy
actuators [7]. The performance responses of a BLDC motor
were scrutinized using the MATLAB toolbox, and its control
system metrics, such as rise time, peak time, and overshoot,
were compared to those of a conventional PID controller [8],
and the robustness of the ANFIS controller outperformed that
of normal fuzzy controller and PID controller. With many
advancements fuzzy controllers are not only limited to speed
control but also for load manipulations for prolonging battery
discharge time [9].
When BLDC motors are used at high speed the switching to
fundamental frequency is most of the time is inadequate thus
causing commutation errors due to delay in PWM switching.
Further, this also causes current oscillations and causes extra
losses to remedy this a carrier-synchronized commutation
PWM technique is used which reduces current oscillations
thus making BLDC motors run at high speeds[10]. Further
for use in personal EVs, we need low inertia machines with a
wide speed range and high performances for these types of
systems conventional cascade PID doesn’t provide adequate
control for these Model-based predictive control is a power
control strategy thus it is mostly applied to these types of
systems [11]. Further with ANFIS control, we get a robust
system with improved dynamic control in BLDC motor drive.
There are many speed control methods one of them is based
on a flux-linkage function which is a sensorless technology
i.e., here we don’t need the reading of position sensors for
manipulating the inverter output [12]–[15]. With the
increasing use of power electronic devices, there is an
increase in harmonics in the system so to reduce that a
switching technique based on selective harmonic elimination
pulse width modulation is applied (SHEPWM) it minimizes
losses at different loads and speeds [16] making BLDC motor
drive system more efficient.
As discussed earlier we need controlled switching for the
inverter circuit so that output voltage can be controlled thus,
in turn, controlling its speed by error term generated in the
PID tuner here a method is discussed as the outside control
loop uses a model-predictive approach to modify motor
speed, while the interior closed-loop uses a hysteresis
controller to manage BLDC phase currents [17]. Thus,
minimizing the cost of the whole speed control circuitry. For
real-time modelling FPGA board is used and uses the latest
state of art technique dual-duty digital pulse width
modulation (DDDPWM) which limits motor speed within a
narrow range useful for domestic appliances and added use
of a spider-based controller which gives better speed
regulation[18], [19]. When a BLDC motor tracks the desired
speed trajectory while calculating angular acceleration there
is the use of active-dampening and invariant-surface
techniques applied to decrease the current feedback thus
reducing the thermal effects due to I2R losses on stator
windings[20].
In this research, we have designed a way for speed control of
BLDC motor drive using ANFIS controller which has input
as output speed of the motor , error in reference speed and
output speed with output as voltage signal for voltage-
controlled voltage source. Conventionally speed control was
done using PID controllers and that too on a single reference
speed but here we have a dynamic speed set as reference this
is done to inculcate the real-life driving conditions an EV
driver faces on real roads. Thus, making the system robust for
changing speeds and reducing overshoot and settling time for
every change in speed. Further, this system can be applied in
self-drive EVs who manipulate their speed according to the
vehicle in front of them with feedback from position sensors
mounted on vehicles. Thus, in other words, a dynamic cruise
control system.
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A. BLDC Motor Modelling
It's essentially a polyphase synchronous motor with a
permanent magnet rotor. The stator has 3-phase windings
which are star-connected. Neutral or star point of winding is
the positive terminal of DC supply, there is full-bridge diode
circuits present which converts AC to DC and capacitor bank
which works as a filter circuit. BLDC motor's major
component is an electronic controller (motor drive system),
which may be thought of as an electronic commutator for the
motor. The commutator's major components are:
1. Solid-state drive (inverter)- The type of component
used to represent inverters is determined by the application.
For example, low-power drives employ transistors, while
high-power drives use thyristors.
2. Rotor position sensor - in terms of motor speed control,
this is the most significant component. It keeps track of the
shaft position and sends control signals to the inverter's
control switches to turn them on as necessary. Commonly
used are Hall effect sensors other are electro-optical sensors
like LED, photo-transistors etc.
3. AC motor - one of the most important components of a
BLDC motor, with the polyphase armature winding on the
stator and permanent magnet field poles on the rotor.
In each phase, some transistors are turned on at proper
instances by the response from the position sensor so that a
unidirectional torque is produced. The basic concept for
BLDC motor speed control is that there are rotor position
sensors mounted on the motor shaft that provide position
feedback and, as previously discussed, send a signal to the
inverter’s drive circuitry, which generates a response by
allowing currents to flow to the stator phase winding in a
controlled sequence, causing the motor to produce the desired
torque and speed. Torque ( ) generated is governed by
equation (1).
(1)
Here, we have torque constant, stator field flux, rotor field
flux and sin of torque angle respectively. As we are having a
permanent magnet rotor thus rotor field flux is constant. The
further magnitude of the stator field is proportional to stator
currents, if the stator current is constant then stator field flux
can also be treated constantly. Finally, we have the torque
equation for phase ‘a’ in equation (2).
(2)
Here Ia is constant stator current in phase ‘a’ thus making
torque vary sinusoidally with torque angle ( ).In BLDC
motors two major types of faults occur they are bearing faults
and demagnetizing faults for which hall-effect sensors are
employed for their detection then using Kurtosis analysis and
predefined values a rotor is defined as healthy or unfit for
working[21].
B. Speed Control Overview
With the discussions done in the previous section, we come
to a better understanding of the standard working of a BLDC
motor. Unlike a DC motor we can’t just control armature
voltage to control its speed we need a wholly different
mechanism.
The circuits needed for speed control are
1. Inverter circuit
2. Commutation Logic
3. Inverter gate pulses logic
With the intermixing of these 3 components, we achieve
speed control of a BLDC motor.
Now commutation logic commutes the MOSFETs present in
the gate pulse logic circuit which in turn produces controlled
gate pulses for the inverter circuit thus making the flow of
currents to stator winding in a controlled manner thus making
the motor run at a certain fixed speed. There is a closed-loop
mechanism set up using a controller it could be PID or
ANFIS. These controllers generate an error signal according
to reading from position sensors (here-Hall effect sensors )
and help control the commutation logic so that better speed
control is achieved. There are many other ways of speed
control some of them include the use of bidirectional DC-DC
converter and ANFIS combined to get four-quadrant
operation as in motoring mode BLDC takes energy from the
battery then during regenerative braking mode it gives excess
energy back to the battery through bi-directional converter
[22]. This method can be also be used in EVs.
II. CONTROL METHODS
Any system designed or developed in the control system
is as good as its controlling method. Because it is the
controller’s duty that uses control systems engineers’
knowledge and makes the error in the system near zero. Thus,
making the system robust i.e. can handle slight changes from
the standard operating conditions and still give perfect results.
Further to achieve maximal torque-per-ampere, PM BLDC
motors are injected with square wave phase currents using PI-
PWM control in the a-b-c reference plane. The functioning of
a PM BLDC motor in a stationary plane has great design and
control approach simplification [23]. Here two such types of
controllers are used that are explained further in the text.
These two have different types of working criteria and results
obtained by the ANFIS controller are a slight improvement
over results obtained from the PID controller.
A. Proportional Integral Derivative Controller (PID)
The concept of PID tuning is simple. But the underlying
mathematics is tough, further selecting the appropriate values
for P, I and D is the key to achieving optimal performance for
the system.
Now, here for choosing the PID parameters, we need to
understand the PID controller equation:
(3)
Where,
Kp= Proportional gain- This term correlates present error in
the system
Ki= Integral gain This correlates accumulation of past errors
in the system
Kd= Derivative gain – This correlates with the future error
prediction.
e(t)= Error term i.e., difference in output value and set value.
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As explained above here we have dynamic reference speed
that is, it changes in every short interval of time thus for each
level of reference speed there should be a different PID but
here a quasi-iterative technique that includes manual tuning is
used which is implemented as per algorithm explained further.
To begin, we have used a modified Ziegler-Nichols [23]
methods with some manipulations on the ki,kd values based
on the practical application of the system. The integral and
derivative gains are both set to zero. Increase the proportional
gain till we see output oscillation. After then, the proportional
gain is set to nearly half of this figure. We raise the integral
gain after setting the proportional gain until any offset is
addressed on a time scale acceptable for our system. Keep in
mind that increasing this gain too much causes severe
overshoot of the set-point value and circuit instability. The
derivative gain is increased once the integral gain has been
established. Derivative gain dampens the system fast to the
set-point value and reduces overshoot. Gain values found
using this algorithm are shown in table (1).
Table 1 Tuned PID gain values
Kp Ki Kd
0.011 11.78 13.56
B. Adaptive Neuro-Fuzzy Inference System(ANFIS)
Artificial neural networks have strong numerical learning
skills, but fuzzy systems have strong interpretation
capabilities and can integrate expert knowledge. ANFIS arises
as a new tool in control system engineering as a result of the
hybridization of these two systems, which captures the merits
of both processes.
Figure 1 Schematic model for training ANFIS controller
As shown in figure (1) this is the basic idea behind the
working of an ANFIS controller. Furthermore, we employed
a Tagani-Sugeno fuzzy inference system with error as an input
and a control signal for a voltage-controlled voltage source
that provides drain potential to MOSFETS in the inverter used
in the BLDC motor's driving circuitry. The input and output
data came from a tuned PID controller that was fine-tuned
using the approach described in the preceding section. The
feedback input shown in figure 1 is taken from the selected
input variables for the ANFIS controller here(output speed
and error) their variation based on output of ANFIS controller
i.e. control signal for voltage source. In terms of training,
testing and validation of ANFIS controller we have a data set
of 400 entries. Inputs (error & output speed) and
output(controlled voltage signal). 60% was used for training
and remaining 40% was used for testing purpose. Further the
system is run for 1500 epochs for reaching an accuracy of
about 99.96%. With generation of 11 triangular membership
function for each input and similar for output too.
C. Control Structure
For speed control, there are open-loop as well as closed-loop
techniques. Closed-loop techniques are used for higher -
accuracy and precision. The closed-loop approach to speed
control is shown in figure (2) below. Here we can see two Figure 3 Back EMF of decoder for MATLAB drive
loops where the internal loop is used for tuning and sensing
power supply polarity using Hall-effect sensors and other Table 2 Decoder Logic for counter-clockwise rotation
parameters present in the MATLAB toolbox for the BLDC
ha hb hc Emf_a EMF_b EMF_c
motor. The outer loop is used for speed control. As the motor
0 0 0 0 0 0
is a BLDC motor, we need a DC supply and a mechanism to 0 0 1 0 -1 -1
manipulate it by the speed of the motor so to do those two 0 1 0 -1 +1 0
types of controllers are used first is PID controller and the 0 1 1 -1 0 +1
other is the ANFIS controller. These controllers inhibit the 1 0 0 +1 0 -1
output voltage from the inverter, so regulating the motor's 1 0 1 +1 -1 0
speed. Sensors are used to sense the rotor's location and 1 1 0 0 +1 -1
transform it into an electrical signal for the controller circuit. 1 1 1 0 0 0
As explained in the above section BLDC motor works on a Now after the decoder switching, we need inverter switching
trapezoidal waveform so here we use inverter circuits to logic so that rotor can be rotated in a counter-clockwise
convert the incoming DC to a trapezoidal AC waveform. direction. The inverter switching is shown in figure (4)
below. With truth table logic is shown in table (3) after figure
(4).

Figure 4 Inverter Switching

Here, Q1, Q2, Q3, Q4, Q5, and Q6 are the transistor switches
whose turn on and turn off gating pulse is decided by the table
Figure 2 Block diagram of BLDC motor speed control (3).
Table 3 Logic for Inverter Switching
Mostly a BLDC motor drive uses 6-electronic switches to
EMF_a EMF_b EMF_c Q1 Q2 Q3 Q4 Q5 Q6
procure 3-phase voltage to a full-bridge configuration power 0 0 0 0 0 0 0 0 0
converter. There are three Hall sensors mounted at 1200 apart 0 -1 +1 0 0 0 1 1 0
from each other that have rotor starter positions. Further, -1 +1 0 0 1 1 0 0 0
these sensors feedback physical information in terms of -1 0 +1 0 1 0 0 1 0
electrical signals to the decoder block as shown in figure (3) +1 0 -1 1 0 0 0 0 1
+1 -1 0 1 0 0 1 0 0
for generating directional reference signal current vector for 0 +1 -1 0 0 1 0 0 1
back electromotive force (BEMF) thus rotating rotor in one 0 0 0 0 0 0 0 0 0
direction. To rotate the rotor in opposite direction the
directional current vector is reversed or the switching order
of the controller is changed. III. RESULTS AND DISCUSSION
In the table(2) below we have a truth table for decoder logic We applied dynamic reference speed with two peaks thus
to rotate the BLDC motor in a counter-clockwise direction. making the system change its state rapidly and reach a state of
Here ha, hb, hc are the outputs of hall sensors and equilibrium. The reason behind different reference states for
emf_a,emf_b,emf_c, are the BEMF values. speed control is the development of an algorithm that can be
applied to self-driving EVs. The cars of the future can change

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their speed according to a car in front of them while In the figure (7) it can be seen that red wave is the multi set
maintaining a safe minimum distance in between. point reference speed whereas the cayan wave is the output
If during level up or level down in speed there is a large speed of BLDC motor tracing the dynamic reference speed
overshoot our vehicle will bump into the car ahead of us
further if we have a high value of undershoot i.e. while
levelling down then our speed will fall to low levels then the
car behind us will bump into us thus causing great havoc. So,
for this type of control, we need to integrate an expert’s
knowledge into the system and make the system learn
according to the daily route that the drive takes thus we require
both neural networks in combination with fuzzy logic and thus
ANFIS controller is the best choice. BLDC motor drive used
for simulation purposes has the standard specification as
provided in the MATLAB simulation toolbox. Figure 6 Speed control results using ANFIS controller
Table 4 BLDC motor parameters
set. It can be seen that even after using appropriate tuning we
S.No Parameter Value were not able to get PID controller result to exactly trace the
1. No of phases 3 waveform, this was because as we have multi reference point
thus we require a PID controller tuned for each reference
2. Back EMF waveform Trapezoidal
point thus making the task cumbersome and costly.
3. Mechanical Input Tm
4. Stator phase resistance 0.7 ohm In figure (8) there is a comparison shown for each type of
controller used yellow wave is the ANFIS output, the Green
5. Stator phase inductance 2.7e-3 h
wave is the PID output and the red is the reference set, PID
Machine Constant controller has a high overshoot as can be seen in the
1. Flux Linkage 0.1194 comparative study but still, these can be used where speed
overshoot has no problems like in toy cars etc. But if this
2. Inertia 0.0027 J(kgm2)
method is applied to BLDC motors present incoming of EVs
3. Viscous dampening 0.0004924 F(Nms) the results could be catastrophic so the best solution to speed
4. Pole pair 4 regulation for BLDC motor with multireference points is
ANFIS controller.
5. Static friction 0 Tf(Nm)
0
6. Rotor flux position when 90 behind phase A axis
theta=0 (Modified Park)
Speed(rpm)

Time
Figure 7 Speed control results using PID controller

This can be further clarified by comparing the overshoot (%)

Figure 5 Neural network generated for speed control using ANFIS
as shown in table (4) for the first reference point and in table
controller.
Figure (5) shows the neural network made for the system. (5) for the second reference point.
It has two inputs error signal and input speed (reference-
speed) because during training we feed ANFIS data according Table 5 Overshoot for a first reference point
to input speeds otherwise if we feed only error then there can Property %
Controller Overshoot
be a possibility that we can have the same error value for value overshoot
different speeds thus leading to faulty training of ANFIS
controller thus the inputs are selected with this in mind. The PID 3789.16 1500 152.61 %
output of ANFIS is the voltage value given to the voltage- ANFIS 1520.12 1500 1.34 %
controlled voltage source which feeds the drain terminal of
MOSFETS present in the inverter circuit.
Table 6 Overshoot for a second reference point
In the figure (6) it can be seen that red wave is the multi set
point reference speed whereas the blue wave is the output Controller Overshoot Property %
speed of BLDC motor tracing the dynamic reference speed value overshoot
set. It can be understood from above figure we have little to PID 4660.19 3200 45.63 %
no overshoot plus a quick settling time.
ANFIS 3379 3200 5.59 %

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