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Design Self-Tuning Fuzzy PID Control System for BLDC Motor Speed

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 J. Practical IT, 2(2): 23-32, 2021
Research Paper

Design Self-Tuning Fuzzy PID Control System for BLDC

Motor Speed
Shahram Kamranifar a , Nooshin Boroumand Jazi b
a Master of Student Department of Electrical Najafabad Branch, Islamic Azad University Najafabad, Isfahan, Iran
bPHD of Student Department of Electrical Najafabad Branch, Islamic Azad University Najafabad, Isfahan, Iran

Received: 23 February 2021 Revised: 28 March 2021 Accepted: 17 April 2021

Abstract
Brushless DC (BLDC) motors has been widely used for many industrial applications such as automobile, medical
and aerospace industry because of high efficiency, high torque, low volume, less electrical noise, longer life and
low maintenance. In this Paper we used BLDC motor and designed a self-tuning fuzzy PID controller to control a
BLDC motor speed. However, speed control system used in conventional PID controller has simple, stable and
highly reliable algorithm but the speed control system of brushless DC motor is a complex nonlinear system, so it
is difficult to use conventional PID control. The performance of self-tuning fuzzy PID controller, which tuned on-
line the PID controller gains has been compared with the typical PID. A selftuning fuzzy-PID controller is proposed
that combines the fuzzy controller with the conventional PID controller and has the advantages of two methods.
Simulations and results on Matlab software show the effectiveness of proposed self-tuning fuzzy PID give better
control performance than conventional PID controller.
Keywords: Brushless DC (BLDC) motors; Speed motor; Conventional PID controller; Self- tuning fuzzy PID
controller.
How to cite the article:
Sh. Kamranifar, N. Boroumand Jazi, Design Self-Tuning Fuzzy PID Control System for BLDC Motor Speed, J. Practical
IT, 2021; 2(2): 23-32,

Proportional-Integral (PI) controller is widely used

Introduction in electric drive fields due to its fast and efficient
In recent years the development of high response [5]. PI controller is a linear controller
performance motor drive is very important in that implements a simple and functional structure
industrial as well as other purpose applications which makes it easy to adapt in a real system. For a
such as automotive, computer, steel rolling mills, nonlinear system, using PI controller might not be
electric trains, robotics, medical and aerospace the best option due to its limitation [6]. PI
industry [1]. Electric motors are classified into two controller has been at disadvantages from slower
different categories: DC (Direct Current) and AC response, oscillation and larger overshoot when
(Alternating Current). Electric motors consist of a comparing with the artificial intelligence-based-
stator (stationary field) and a rotor (the rotating control methods of fuzzy logic, neural network and
field or armature) and operate through the FPGA [7]. Since 1965, the University of California
interaction of magnetic flux and electric current to cybernetics expert Zadeh proposed fuzzy since its
produce rotational speed and torque [2]. Brushless theories and methods of improving, just a few
DC motor is a new kind of special motor. It is decades, the fuzzy control (Fuzzy Control) is
developed on the traditional DC motor. Thus widely used in the natural and social sciences and
brushless DC motor plays an important role in engineering control field [8]. Fuzzy logic has a
both aerospace and machinery manufacture [3]. natural language skills similar to the human brain,
BLDC motor have many advantages than induction is very suitable for describing complex nonlinear
motor such as a better speed-torque characteristic, systems. Fuzzy control does not depend on
high dynamic response, long operating life, accurate mathematical model of controlled object
noiseless operation which can be considered the [9]. FLC controller has advantages over PI
most dominant electric motor [4]. In early years, controller such as the auto-tuning technology that

J. Practical IT, 2021; 2(2): 23-32 |23

can manually set by researcher, can be used for a PID controllers are used in more than 95% of
broad range of operating conditions and has a closed–loop operation in industrial process [13].
precise control performance [10]. However, PID controller transfer function takes one of the
despite all the benefits offered, FLC still suffers two formats:
from longer design time cycle due to the many
GPID (s) = KP + KI /s + KD s (1)
parameters and number of rules to tune [11,12].
To improve the ability of fuzzy control, this paper GPID (s) = KP (1 + 1 / TIs + TD s) (2)
presents a model that is based on fuzzy PID control
of brushless DC motor speed control system. Where KP, KI and KD are the proportional, integral,
Parameters used in this paper can be adjusted real and derivative gains respectively.
time using self-tuning fuzzy PID controller. The TI = KP / KI TD = KD / KP (3)
simulation results show that the control system is
fast response, small overshoot and robustness, and The function of each part of a PID controller can be
the dynamic characteristics is better than described as follows, the proportional part reduces
traditional PID control. the error responses of the system to disturbances,
The paper is organized as follows: The first section the integral part eliminates the steadystate error,
gives the introduction about work. The second and finally the derivative part dampens the
section describes the design of PID and fuzzy-PID dynamic response and improves the system
controller. The third section is about the stability [14]. The problem in the PID controller is
simulation and result work based on to choose the three parameters to be suitable for
Matlab/Simulink environment. The fourth or final the controlled plant. There are many methods to
section presents the conclusions of the entire define the parameters of PID controller such as try
work. and error and Ziegler-Nichols methods [15]. The
values of the PID are tuned by Ziegler-Nichols
DESIGN OF PID AND FUZZY PID CONTROLLER methods. PID controller is shown in figure (1).
PID controller

Figure 1: Block diagram of PID controller

Fuzzy controller Positive Big (PB). These fuzzy control rules were
Fuzzy logic control (FLC) is a control algorithm framed to attain the finest performance of fuzzy
based on a linguistic control strategy, which is logic controller [16]. So that there are at most 49
derived from expert knowledge into an automatic fuzzy rule. The set of rules were assigned as shown
control strategy. Fuzzy sets were described using in below tables and the basic structure of fuzzy
following linguistic labels Negative Big (NB), control system is shown in figure (2).
Negative Medium (NM), Negative Small (NS), Zero
(Z), Positive Small (PS), Positive Medium (PM), and

24 | J. Practical IT, 2021; 2(2): 23-32

Figure 2: Block diagram of fuzzy controller

TABLE 1: FUZZY RULES FOR KP.

TABLE 2: FUZZY RULES FOR KD.

J . P r a c t i c a l I T , 2 0 2 1 ; 2 ( 2 ) : 2 3 - 3 2 |25
 TABLE 3: FUZZY RULES FOR KI.

Self-tuning fuzzy PID controller reference point [17]. The traditional PID control
Fuzzy PID controllers are classified into two types: method has no steady state error and it is easy to
the direct action fuzzy control and the fuzzy implement, so it has been widely used in many
supervisory control. Tuning the parameters of a fields. But the speed control system of brushless
PID controller is very important in PID control. DC motor is a complex nonlinear system, the
Ziegler and Nichols proposed the well-known requirements to the control parameters change
method to tune the coefficients of a PID controller along with the system state, so it is difficult to use
and improve the performance by optimization the traditional PID control. The fuzzy controller has an
PID parameters using different optimization advantage in dynamic performance than the
techniques but cannot guarantee to be always traditional PID controller, but it has the steady
effective [8]. For this reason, this paper state error. The fuzzy-PID control combines the
investigates the design of self-tuning for a PID fuzzy control with the traditional PID control, it
controller. The controller includes two parts: takes advantages of excellent dynamic
conventional PID controller and fuzzy logic control performance of fuzzy control and the excellent
(FLC) part, which has self-tuning. The static performance of traditional PID control, so it
proportional, integral and derivate (KP, KI and KD) can obtain a better control effect [18]. The
are the gains of PID controller which, tuned online structure fuzzy self-tuning PID controller of is
to force the system to follow the specified shown in figure (3) [19].

Figure 3: Structure of self-tuning PID fuzzy controller.

SIMULATION AND RESULTS transferfunction-based mathematical models are

Brushless DC motor Consists of Three-phase stator widely used in automatic control fields. The DC
windings, permanent magnet rotor, the inverter, motor has been simulated in the MATLAB/
the rotor magnetic pole position detector and SIMULINK environment [15]. BLDC motor and
other groups [20]. The BLDC motor works on block diagram of DC motor on Matlab Simulink is
speed and current control mode. shown in figure (4) and (5).
The transfer function is one of the most important
concepts of control theory, and the

26 | J. Practical IT, 2021; 2(2): 23-32

 Figure 4: Brushless DC motor.

The transfer function of the BLDC motor is defined fuzzyPID control separately, the proposed
as follows: simulation model of speed-loop of self-tuning fuzzy
PID control is shown in figure (5) [21-24].
G(s) = 1 / S3 + 3 S2 + 2 S (4)
For comparison, the speed control system is
operated in conventional PID and self-tuning

Figure 5: The simulation model of the control system on Matlab software.

Figure (6), (7) and (8) shows the membership

functions of KP, KI and KD respectively.

J . P r a c t i c a l I T , 2 0 2 1 ; 2 ( 2 ) : 2 3 - 3 2 |27
 Figure 6: Membership functions of KP output.

Figure 7: Membership functions of KI output.

Figure 8: Membership functions of KD output.

28 | J. Practical IT, 2021; 2(2): 23-32

After designing the rule, we can get the surface the rule of FLC.
viewer in figure (9), (10) and (11) that represent

Figure 9: Rule surfaces of KP.

Figure 10: Rule surfaces of KI.

Figure 11: Rule surfaces of KD.

Finally, performance of Fuzzy PID controller and

PID controller of BLDC motor is shown in figure
(12).

J . P r a c t i c a l I T , 2 0 2 1 ; 2 ( 2 ) : 2 3 - 3 2 |29
 Figure 12: Performance of Fuzzy PID controller and PID controller of BLDC motor.

We compared simple PID and Fuzzy-PID technique, Inter. Journal of Eng Research and App,Vol. 3, No.
3, pp.612620.
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underwater robot”, Proceedings of 2012 IEEE International
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Conference on Mechatronics and Automation, pp. 1577-
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