“Fuzzy Pre-compensated PI Controller for

PMBLDC Motor Drive”

- The advanced digitalized control of
DC motor
Under The Guidance,
Mr. JAY KUMAR,
SENIOR LECTURER,
TOCE, EEE Dept, VTU.

Seminar presentation by-

PAPANNA DHANANJAY,
M.TECH-POWER ELECTRONICS,
11 1st SEMESTER, TOCE, EEE
 INTRODUCTION:

Fuzzy Pre-compensated PI Controller is the advanced speed

control method for PMBLDC (Permanent Magnet Brushless

Direct Current) Motor Drive which provides precise

mathematical modeling of the system feasibly.
Its most cost competitive and eliminate hardware &
software design complexity in the system.

22
Fuzzy Pre-compensated PI
 AIM:

design a PMBLDC motor drive that satisfies the following needs:

ood dynamic performance with zero steady state error.

ccurate mathematical model of the drive system for tuning th

PI gains in order to overcome perturbation and variations of
system parameters.

educe the hardware & software design complexity.

educe chatter, energy loss, plant damage, and excitation of

unmodelled dynamics.

33
Fuzzy Pre-compensated PI
Existing System:

PMBLDC MOTOR DRIVE

CONTROLLERS

Sliding Mode PI /PID controller

Controller

44
Fuzzy Pre-compensated PI
 PROBLEM STATEMENT:

onventional PMBLDC motor drive controllers we are facing

following problems:

eterred dynamic performance with zero steady state error.

he variation of the operating point of the system, such as

variation of reference speed, load and the DC link
voltage which leads to oscillations in the system.

hatter, energy loss, plant damage, and excitation of

unmodelled dynamics.

55
Fuzzy Pre-compensated PI
 The Challenge:

To design the universally acceptable PMBLDC motor drive controller

that satisfies all the aims and overcomes all the problems specified.

66
Fuzzy Pre-compensated PI
PROPOSED SOLUTION:

Use Fuzzy Logic technique to design the PMBLDC motor drive

controller.

77
Fuzzy Pre-compensated PI
FUZZY LOGIC:

Fuzzy Logic incorporates a simple, rule-based

IF X AND Y THEN Z
approach to a solving control problem rather than attempting to model a
system mathematically.
For example: Let us consider motor speed control –
Instead of "SP =500HP“
We take "T <1000HP“ or
"210HP <Torque <220HP”.

88
Fuzzy Pre-compensated PI
Programming methodology:
"IF (process is too slow) AND (process is getting slower)
THEN (add speed to the process)"
or
"IF (process is too fast) AND (process is speeding rapidly)
THEN (slow the process quickly)”

(a) Binary logic (b) Fuzzy logic

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Fuzzy Pre-compensated PI
 PI CONTROLLER:
PI Controller (proportional-integral controller)
is a feedback controller which drives the plant to be controlled with a
weighted sum of the error.

SP: Set Point

PV: Process Variable
MV: Manipulated Variable

1010 Fuzzy Pre-compensated PI Controller

for PMBLDC MOTOR
Advantage of a Proportional Integral
Controller:
PI controller causes the steady-state error to be zero
for a step input.

Disadvantages of a Proportional Plus Integral Controller:

PI controller introduces a phase-lag. This means that the phase
margin (a measure of stability) decreases.
So careful design considerations with respect to the gain must be
considered.

1111 Fuzzy Pre-compensated PI Controller

for PMBLDC MOTOR
DSP (Digital Signal Processing):
Digital Signal Processing is concerned with the
representation of the signals by a sequence of numbers or
symbols and the processing of these signals. Digital signal processing
and analog signal processing are subfields of signal processing.
DSP includes subfields like: sensor array processing, audio signal
processing, spectral estimation, statistical signal processing, etc.

1212 Fuzzy Pre-compensated PI Controller

for PMBLDC MOTOR
1313 BLOCK DIAGRAM-I:Fuzzy Pre-compensated PI Controller
for PMBLDC MOTOR
1. The Power circuit
2. The controller
q Reference speed
q Rotor speed monitoring
q The speed controller
q Rotor position sensing
q Reference current generation
q Winding current sensing
q The current controller
q Gate drive control unit

1414 Fuzzy Pre-compensated PI Controller

for PMBLDC MOTOR
1515 Fuzzy Pre-compensated PI Controller
for PMBLDC MOTOR
 BLOCK DIAGRAM-II
WORKING OF FUZZY PRECOMPENSATED PI SPEED CONTROLLER
1616 Fuzzy Pre-compensated PI Controller
for PMBLDC MOTOR
I. The Speed Controller
e (n)= w* (n) – w(n) )
y(n) = f [e (n), ∆ e (n)]
∆e(n) = e(n)-e(n-1)
w*'= w* + y(n)
e'(n) = w*' – w
∆ e' (n) = e' (n) - e' (n-1)
Tref (n) = Tref (n-1) +
Kp ∆e' (n) +Ki e' (n)
II. Fuzzy Pre-compensator
q. Structure of Fuzzy Logic
Control
1717
e (n) => speed error of electric drive.
w* => reference speed of electric drive
w => actual speed of electric drive.
∆e (n) => change in error
y (n) is a compensation term
(determined on the basis of fuzzy logic
mapping function) at an instant n.
f [e (n), ∆e (n)] => compensation term
w*' => compensated reference signal
Tref => torque reference
Fuzzy Pre-compensated PI Controller
for PMBLDC MOTOR
Fuzzy Process consists of the following five steps:
Fuzzification of input variable:
The process of fuzzification is assigning membership functions for
various fuzzy subsets (seven fuzzy subsets namely PB, PM, PS,
ZE, NS, NM, NB are considered in this study) on the basis of I/P.
Application of Fuzzy operator (AND, OR, NOT ) in the
IF part of the rule.
IF e (n) is “negative big (NB)” AND ∆e (n-1) is “positive big (PB)”
IF € is “negative big (NB)” AND ∆€ is “Zero (ZE)”

1818 Fuzzy Pre-compensated PI Controller

for PMBLDC MOTOR
3. Implication from the antecedent to the consequent (THEN
part of the rule)
THEN ∆u is “Zero (ZE)”.
THEN ∆u is "negative medium (NM)".
4. Aggregation of the consequent across the rules.
With the seven fuzzy subsets forty-nine rules are written.
These rules are given in Table-2.
For example: IF €=+1 AND ∆€=-2 THEN ∆u =-1

1919 Fuzzy Pre-compensated PI Controller

for PMBLDC MOTOR
 TABLE-II

Inference: The inference is the process of determining the degree of

belonging of the output (∆u) to the various fuzzy subsets,
for given values of € and ∆€.
2020 Fuzzy Pre-compensated PI Controller
for PMBLDC MOTOR
The degree of belonging of error (€) and change in error (∆€) to fuzzy
subsets is shown in Table. The degree of belonging for output (∆u) is also
calculated in this table.

TABLE: Inference

2121 Fuzzy Pre-compensated PI

4. DEFUZZIFICATION:
Defuzzification is the process of obtaining crisp output from
the output of the interference and fuzzy subsets. To obtain ∆u,
the following equation is used-

Where,
∆u=> output fuzzy set
Ai => output fuzzy subset
ai => degree of belonging (output of interference)

Example:
∆u= -2*0.18-1*0.42-1*0.12-1*0.28 = 1.18
0.18+0.42+0.12+0.28

2222 Fuzzy Pre-compensated PI Controller

for PMBLDC MOTOR
 Basic structure of fuzzy logic control:

Fuzzy membership function

2323 Fuzzy Pre-compensated PI Controller

for PMBLDC MOTOR
The different output fuzzy sets: The input fuzzy sets having
output negative, output zero, Positive and negative error
output positive

2424 Fuzzy Pre-compensated PI Controller

for PMBLDC MOTOR
DSP Based Implementation of the Drive System:
Finally the assembly language software is developed for closed loop
speed control of the PMBLDC drive system with Fuzzy
Pre-compensated PI speed
Controller technique.
Here TMS320F240 DSP
microchip is used.

2525 Fuzzy Pre-compensated PI Controller

for PMBLDC MOTOR
RESULTS AND DISCUSSION:

(PI speed controller) (Fuzzy pre-compensated PI controller)

Scale: 300 rpm /div (channel 1 and 2), 4 A/div (channel 3 and 4)
100-ms/ div. (time scale)
Figure: Starting response of the PMBLDC motor drive.
Let the drive speed be 500rpm (reference speed). starting response of
Fuzzy precompensated PI speed controller the starting time is 20 msec
less than the PI speed controller.
2626 Fuzzy Pre-compensated PI Controller
for PMBLDC MOTOR
(PI speed controller) (Fuzzy pre-compensated PI controller)
Scale: 300 rpm /div (channel 1 and 2), 4 A/div (channel 3 and 4)
100-ms/ div. (time scale)
Figure: Speed reversal response of the PMBLDC motor drive.
Let the drive speed be -500rpm (reference speed). Reversal response
time is 700 ms with fuzzy precompensated PI and 900 ms with PI speed
controllers. Hence, there is reduction in reversal time by 200 ms.
2727 Fuzzy Pre-compensated PI Controller
for PMBLDC MOTOR
SUMMARY OF
WORK
In case of permanent magnet motor, Fuzzy logic control
apparently offers a possibility of obtaining an improvement in the
quality of the speed response, compared to PI control.

Fuzzy logic provides Accurate mathematical model of

the drive system for tuning the PI gains in order to
overcome perturbation and variations of system
parameters.

2828 Fuzzy Pre-compensated PI Controller

for PMBLDC MOTOR
 Finally, I Thank to novel fuzzy logic method
That as boosted the performance of the control system in
electric drives.

2929 Fuzzy Pre-compensated PI Controller

for PMBLDC MOTOR
Q/A

Questions and answer time

3030 Fuzzy Pre-compensated PI Controller

for PMBLDC MOTOR
 THANK YOU

3131 Fuzzy Pre-compensated PI Controller

for PMBLDC MOTOR