Synopsis

Speed Control Of BLDC Motor Using Open Loop, PID Controller And
Neural Network

Abstract—The main goal of today’s applications and future applications are high efficiency and low
manufacturing cost. Now these goals are achieved by the use of brushless DC motors (BLDC) in a more
number of applications. The BLDC motor has various applications used in industries like in drilling, lathes,
spinning, electric vehicles, elevators, home appliances where BLDC replace the conventional brushed DC
motor. Further, the BLDC motors offer a good control which is very much required for the vehicles and they
are suitable for variable speed applications. In this paper MATLAB simulation of speed control of BLDC
motor using open loop technique, PID technique and neural network are presented and their comparative
study is carried out. It is observed that neural network gives better control over BLDC motor than other
techniques.

Keywords— Artificial neural network, PID technique, open loop, speed control

INTRODUCTION

A brushless DC motor (BLDC) is a synchronous electric motor which is power driven by direct current
electricity (DC) and which has an electronically controlled commutation system, instead of a mechanical
commutation system based on brushes. In such motors, current and torque, voltage and rpm are linearly
related. In BLDC motor, There are two sub-types used which are the Stepper Motor type that may have more
poles on the stator and the Reluctance Motor. BLDC motors are considered to be more efficient than brushed
DC motors. This means that for the same input power, a BLDC motor will convert more electrical power into
mechanical power than a brushed motor, mostly due to the absence of friction of brushes. The enhanced
efficiency is greatest in the no-load and low-load region of the motor's performance curve. Under high
mechanical loads, BLDC motors and high quality brushed motors are comparable in efficiency. Brushless
DC motors are commonly used where precise speed control is necessary.

Speed control of BLDC motor is essential for making the motor work at desired rate. Speed of a brushless
dc motor can be controlled by controlling the input dc voltage / current. The higher the voltage more is the
speed. Many different control algorithms have been used to provide control of BLDC motors. The motor
voltage is controlled using a power transistor operating as a linear voltage regulator. This is not practical
when driving higher-power motors. High-power motors must use PWM control and require a microcontroller
to provide starting and control functions.

Literature Survey

The neural system is utilized to repay the impacts brought about by non-linearity and vulnerability in this
manner the blunder between the speed circle and the reference model can be decreased. To clarify adequacy
of the proposed control conspire, tests were conveyed in a 3-hub pilot test program. Tests results show that
the proposed control plan can decrease the plant's affectability to parameter variety and unsettling influence
and improve the following execution successfully.

The creator proposed neural system based model reference versatile control approach (MRAC) for ship
directing frameworks. For the nonlinearities of ship directing framework, exhibitions of conventional
versatile control calculations are not acceptable. The introduced MRAC framework uses RBF neural system
to rough the obscure nonlinearities so as to get a high versatile control execution. Creator likewise talked
about solidness of the framework with Lyapunov steadiness hypothesis. Reenactment additionally
demonstrates the adequacy and superior of the proposed calculation.
The creator proposed neural system control are contrasted and the relating fluffy PI controller and
ordinary PI controller. Neural system improves speed reaction and furthermore decreases torque swells. By
utilizing this controller, its yield dependent on a lot of guidelines to keep up fantastic control execution even
within the sight of parameter variety and drive non-linearity. This basic plan has altogether improved the
execution of the BLDC framework while in the meantime keeping up the basic control structure of the
BLDC. Matlab/simulink programming was utilized to reenact the proposed plan.
The creator proposed a control technique of RBF neural system PID in light of the fact that regular PID
controller is hard to meet the execution necessities of BLDC motor Author examined its execution both
tentatively and by reproduction when the framework is exposed to step change in reference speed and
unexpected burden unsettling influence. Different control framework parameters for the two controllers have
been estimated, broke down and thought about. The examination demonstrates obviously that the proposed
controller gives better exhibitions.
The author discussed about brushless dc engine drive framework with two kinds of speed controllers in
particular PI and fluffy based controller utilizing resounding post inverter. He utilizes fluffy rationale based
delicate exchanging full shaft inverter utilizing transformer, which can create dc connect voltage scores amid
hacking.. Consequently all switches work in zero voltage exchanging condition.
 The dynamic conduct of the drive framework with the two controllers are exhibited and analyzed for a
speed operation. It is seen that the fluffy rationale controller gives much better powerful reaction for the
framework and is strong. The waveforms for stator current, rotor speed; torque and back emf were
contemplated in correlation with the Proportional Integrated Control of BLDC engine drive.
The creator gives the data about displaying and control of Brushless DC (BLDC) engine utilizing the PID
control with hereditary calculation. He clarifies the upsides of proposed Control of Three Phase BLDC Motor
utilizing PID with Genetic Algorithm. The creator clarifies the correlation between responsel of Three Phase
BLDC Motor utilizing PID with Genetic Algorithm and Ziegler Method and furthermore the MATLAB
reenactment results.
The creator proposed Model reference versatile sliding mode control (MRASMC) utilizing radical
premise work (RBF) neural system (NN) to control the single-stage dynamic power channel (APF). The
creator further used The RBF NN to estimated nonlinear capacity and takes out the demonstrating blunder. It
is inferred that AC side model reference versatile current controller not just certifications the
comprehensively solidness of the APF framework yet additionally create the repaying current to follow the
consonant current precisely.
Creator proposes a control methodology dependent on fake neural systems (ANN) for a situating
framework with an adaptable transmission component, considering Coulomb grinding for both engine and
burden, and utilizing a variable learning rate for adjustment to parameter changes and to quicken union. In
this structure, the learning rate of the criticism ANN is delicate to stack inactivity varieties.
The creator exhibited a MRAC framework which uses RBF neural system to surmised the obscure
nonlinearities so as to get a high versatile control execution. In light of the Lyapunov solidness hypothesis,
the refreshing law for the RBF neural system and down to earth strength are dissected, which considers the
neural system learning mistake. Numerical recreation was done to demonstrate the handy practicality and
execution of the proposed neural system based versatile control calculation.
The creator has demonstrated that NMRAC ready to follow any adjustments in reference display reaction
and to fortify the proof over, the time steady of reference demonstrate was changed from 200s to 550s and
NMRAC has indicated great execution in controlling temperature as per want reference show. Demonstrate
reference for versatile control is planned utilizing first request in addition to dead time (FOPDT) exchange
work. The loads of neural system are refreshed utilizing Recursive Prediction Error Method (RPEM). The
execution of neural system is looked at utilizing changed number of concealed layer, energy rate and learning
rate .
Proposed System
 In resent BLDC motor is widely used in home appliances and commercial application. So speed control of
BLDC motor is very essential. Speed control in a BLDC motor involves changing the applied voltage the
motor phases. This can be done using a sensored method based on the concept of pulse width modulation.
Brushless DC motors (BLDCM) are the synchronous type of motors whose field winding is of permanent
magnets. These are the motors which don’t have the brushes or the commutators for passing of current or
commutation. That is why these types of motors are also called electronically commutated motors. They are
not operated directly instead they are operated through an inverter which switches the phases of BLDCM
ON/OFF based on the position of the rotor. The switches in the inverter can work for 1200 conduction mode
or 1800 conduction mode. Different types of controlling methods for BLDC motor are discussed in
subsequent sections.

Fig.1.Block diagram of BLDC motor drive

OPEN LOOP CONTROL

When the load on a motor is constant over its operating range then the response curve of motor speed
relative to applied voltage is linear. If the supply voltage is well regulated, in addition to a constant torque
load, then the motor can be operated open loop over its entire speed range. Consider that with pulse width
modulation the effective voltage is linearly proportional to the PWM duty cycle. An open loop controller can
be made by linking the PWM duty cycle to a table of motor speed values stored as the time of commutation
for each drive phase.

PID CONTROLLER

PID controller consists of Proportional Action, Integral Action and Derivative Action. It is commonly
refer to Ziegler-Nichols PID tuning parameters. It is by far the most common control algorithm. Under this
heading, the basic concept of the PID controls will be explained. PID controller’s algorithms are mostly used
in feedback loops. PID controllers can be implemented in many forms. It can be implemented as a stand-
alone controller or as part of Direct Digital Control (DDC) package or even Distributed Control System
(DCS). It is interesting to note that more than half of the industrial controllers in use today utilize PID or
modified PID control schemes. A diagram illustrating the schematic of the PID controller is shown below.
Such set up is known as non-interacting form or parallel form.

ANN based PID Controller

Conventional feedback controllers, such as the PID or the linear quadratic, need accurate mathematical
models describing the dynamics of the system under control. This can be a major limiting factor for systems
with unknown varying dynamics. Even if a model can be obtained for the system under control, unknown
conditions such as saturation, disturbances, parameter drifts, and noise may be impossible to model with
acceptable accuracy. For most of the basic electric drives applications, these unknown conditions in addition
to the system nonlinearities can be ignored, but it may lead to unacceptable tracking performance. High
accuracy is not usually imperative. The conventional PID controllers those are based on linear control theory
and are much easier to understand and implement but suffer the disadvantages when the operating points of
the process or the plant parameters are changed due to disturbances. For the processes with variable time
delays, varying plant parameters, large nonlinearities and considerable process noise, the PID controller does
not give optimal performance. Fixed-gain feedback controllers need to be returned to obtain the new optimal
settings. For the processes with variable time delays, varying plant parameters, large non-linearities and
considerable process noise, the PID controller does not give optimal performance.

BLDCM have been used as variable speed drives in wide array of applications due to their high efficiency,
silent operation, compact form, reliability, and low maintenance. BLDCM drives were widely employed in
industry due to their intrinsic robustness and high torque-toweight ratio. The availability of cheap embedded
processing power in recent years paved the way for the widespread use of sensor less control techniques; the
removal of speed and position sensors leads to substantial increase of robustness and cost savings. Due to the
high torque to volume ratio of BLDCM, it dominates for High Performance Drives (HPD) applications, such
as robotics, guided manipulation and dynamic actuation, the precise rotor movement over a period of time
must be achieved. Also, the Brushless dc motor, as the name implies, has no brushes. This is an essential
requirement for several industrial applications such as airplane actuation, food and chemical industries. This
must be achieved even when the system loads, inertia and parameters are varying. To do this, the speed
control strategy must be adaptive, robust, accurate, and simple to implement.
CONCLUSION

A BLDC motor controller model has been developed using MATLAB/SIMULINK. The simulation was done
using MATLAB/Simulink System Design Optimization tool. A comparison has been done at various speeds
(1000, 2000 rpm) of BLDC Motor with open loop technique, PID controller, PID controller with ANN. The
performance indices in terms of rise time and percentage overshoot of the controller are computed and
compared. Thus the Simulink System Design Optimization based PID controller with ANN improves the
response and performance of a conventional Proportionate Integral Derivative (PID) controller in a nonlinear
dynamic environment.

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