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Speed Control Of BLDC Motor Using Open Loop, PID Controller And Neural
NetworkBhupesh Shukla Department of Instrumentation Pravara Rural Engineering
College Loni, Ahmednagar. Shukla.bhupesh1@gmail.com Dr. P. S. VIKHE Department of
Instrumentation Pravara Rural Engineering College Loni, Ahmednagar.
pratapvikhe@gmail.comAbstract—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 creator proposed consolidating novel model reference

versatile control (MRAC) and neural system (NN) to accomplish high following accuracy
for servo frameworks. Broke down impact of non-direct and dubious factors on the
execution of the plant. 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. [1] 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.

[2] 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. [3] 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. [4] 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. [5] 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.

[6] 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.

[7] 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.

[8] 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. [9] 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.

[10] 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. RESULT _ Fig.2.simulation diagram _ Figure 3 BLDC motor with open loop
action While having set point as 5000 RPM the open loop gives approximately 4200RPM
after transient.

The response is stable but it is very much sensitive to the other parameters like torque,
disturbance, etc. _ Figure 4. speed control of BLDC motor with PID control action While
having set point as 5000 RPM the open loop gives approximately 4850 RPM after
transient. The response is stable. Once motor started it is not in control and speed
changes suddenly and varies rapidly. At t = 0.001 sec it achieves 11000 RPM.

_ Figure 5 speed control of BLDC motor with PID control action with Neural Network _
Figure 6 Combined response speed control of BLDC motor To improve this initial
response of PID control action, PID is tuned with Neural Network. Result of tuning with
Neural network clearly indicates the exact desired speed is achieved. The initial
unstability is improved by tuning PID with Neural Network. 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. REFERENCES Didi Susilo Budi
Utomo ; Ansar Rizal ; AchmadFananyOnnilitaGaffar, “Model reference neural adaptive
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Control and Automation Patel Singh, A.K.

Pandey, "Modelling and Performance Analysis BLDC Motor and Difference Schemes of
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Tao Fu, Xiaoyuan Wang, "Desgin of Brushless DC Motor Controller Based on Adaptive
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