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Brushless DC Motor Speed Control using PID Controller, Fuzzy Controller, and
Neuro Fuzzy Controller

Article  in  International Journal of Computer Applications · April 2018

DOI: 10.5120/ijca2018916783

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Brushless DC Motor Speed Control using PID Controller,
Fuzzy Controller, and Neuro Fuzzy Controller

Ahmed K. Hassan Mohammed S. Saraya

MSc Student at Computers and Systems Lecturer at Computers and Systems Engineering
Engineering Department, Department,
Faculty of Engineering Mansoura University, Egypt Faculty of Engineering Mansoura University, Egypt
Mohamed S. Elksasy Fayez F. Areed
Assist. Prof at Computers and Systems Engineering Prof at Computers and Systems Engineering Department,
Department, Faculty of Engineering Mansoura University, Egypt
Faculty of Engineering Mansoura University, Egypt
Cost, dealing with it is simpler than other techniques and very
limited maintenance. According to all of the pervious
Abstract characteristics
Brushless dc motors (BLDC motors) are commonly used PID still very preferred in industry and at many automatic
nowadays in industry and at many applications according to its control applications, and it also used with BLDC motor, but the
very high speed with a very compact size in comparison to the problem which rises with PID technique are the non-linear
older motors with brushes, moreover the importance of being systems, the problem of affecting the speed after adding any
powered by direct current (DC) and without all disadvantages additional loads, suffering from changing dynamics after a long
of using brushes, which is convenient to many applications like time operation which will be very difficult to be covered with a
hard drivers, CD/DVD players, electric bicycles, electric and fixed PID controller. Moreover, the external noise which make
hybrid vehicles, CNC machines and Aero modeling. The PID controller not be the perfect choice to control the BLDC
purpose of this paper is to control the speed of a brushless dc motor in these circumstances because it means that we need to
motor by using PID controller, Fuzzy logic controller, and change the parameters dynamically. All of these reasons
Neuro fuzzy controller. According to these varieties of control leading us to think about a more flexible and suitable controller
techniques which used to control the speed, we have many like fuzzy logic controller which depends on the linguistic rules
parameters which used to assess that which controller will be that make the system more flexible and more dynamic.
better to use.
And if we need to talk about a more dynamic controller
Introduction shifting us from a flexible controller to a new zone of an
intelligent controller we will talk about using ANFIS (Adaptive
BLDC motors according to the long operating life, operating Neuro Fuzzy Inference Systems) controller which makes our
without any noise, the very high speed range, the very high system dynamic because of using training , learning and testing
efficiency, dynamically faster response are now widely used in techniques which make an enhancement in the performance
many applications, such as servo [3].
drives, computer DVD burners, and electrical vehicles.
Moreover, the lack of brushes usage in BLDC motor gives us
PID controller:
some advantages such as [1]: At any process, we need to use a control technique to design
convenient controller to overcome any error, minimize the
error and to reach the desired target at minimum time. In the
 BLDC motor has no noise. case of speed control we can define error of speed equation as:
 There is no sparks, which means it will be suitable d(t)- a(t) (1)
for any hazardous work environment and any
sensitive media.
 The compacted size for the motor. (2)
 No need to change the brushes, which leads to low
cost of maintenance. Where:
 The torque and acceleration have better performance.
u(t) is the output signal from the controller.
kp is the proportional gain of the controller.
A brushless DC motor is a synchronous electrically powered
motor which is powered by DC electrical current and it is kI is the integral gain of the controller.
different than dc motor because of its electronically
commutation control, instead of the old way of a mechanical kD is the derivative gain of the controller.
commutation system which uses brushes. e(t) is the error function.
It’s well known for us that PID controller still a very reliable The following block diagram, in figure 1 explains the operation
control technique according to many characteristics as, the very of our PID controller.
satisfied performance with the tuning methods with any linear
system, low
 Neuro-Fuzzy Controller:
The ANFIS technique (Adaptive Neuro Fuzzy Inference
system) simply constructs an input output network depends on
feed forward learning techniques; its construction consists of
nodes and links connecting these nodes which all of them are
adaptive targeting to minimize error as possible by
learning[5],[8]
The ANFIS design briefly consists of two parts: constructing
And training. In the constructing part, structure factors are
Figure 1 PID Controller block diagram Considered. We have type and number of input membership

Fuzzy Controller: functions (MFs), and type of output membership function(MF).

Hence, ANFIS depends on neural networks techniques for
Fuzzy Controller is a logical, linguistic controller depends on learning so we are taking about feed forward, back propagation
linguistic rules which make the connection between inputs and and hybrid systems like making mix between back propagation
outputs. The biggest motivation to use fuzzy control system is and least square error[3],[4].
to describe complicated real world problem into a model but in
a linguistic form depends on rules (IF-Then statement) , All of
that means that this technique of control has a very amazing
advantage which it will be effortless to understand and to
implement like categorizing speed as low, moderate and
fast[2].

The fuzzy controller has mainly four components according to:

 Fuzzification : its defined as the process of

converting the input analog signals to values can be
compared with rules in rule base.
 The inference mechanism: it’s defined as the
mechanism which decides the control rules related at Figure 3 Neuro Fuzzy Controller block diagram
the current time and then make the convenient input
to the system.
 Rule base: it’s defined as the linguistic logical rules
using (IF-THEN) conditions to get the desired
output. PID Controller simulation results:
 Defuzzification : its defined as the process of
converting the result of applying rules from fuzzy
logical form into analog form to be entered to the
Most of industrial applications use PID Controller because of
plant.
its ease of usage and the simplicity of tuning parameters at the
site but we noticed that derivative part sometimes with relative
The following block diagram, in figure 1 explains the
bigger value make the system unstable. The used coefficients
operation of our Fuzzy controller.
for our Controller after many trials with try and error method
and Ziegler Nichols method are KP=0.15, KI=20, and
KD=0.0001.

At the start, the speed was zero, and at 0.066 sec the speed
increased to 800 RPM, at 0.089 sec the speed increased to 1000
rpm at 0.1 sec a load of
10 % is added which makes undershoot at speed 2.1% the
speed comes back to its value 1000 rpm after 0.015 sec.
Figure 4 shows the used simulation model in Simulink for the
PID speed controller.

Figure 2 Fuzzy Controller block diagram

 Figure 4 Used Simulink model for PID Controller
In figure 5, we can see the response of the motor to the sec., the settling time is 0.0104 sec. and we have an
controller the rise time is 0.00482 sec., the settling time is overshooting 1.53 %
0.0215 sec. and we have an overshooting 2.05 %
In figure 8, the torque has a startup value with about 3.1 N.m
and reached steady state at 0.022 sec. and increased again at
time 0.1 according to the increased load. The torque ripples are
about 2.48%.

Figure 5 speed response for PID Controller

In figure 6, the torque has a startup value with about 6.6 N.m
and reached steady state at 0.025 sec., and increased again at
time 0.1sec. According to the increased load. The torque Figure 7 speed response for Fuzzy Controller
ripples are about 3.71%.

Figure 8 torque response for Fuzzy Controller

Figure 6 torque response for PID Controller
As shown in Figure 9 at model we have gains multiplied by
Fuzzy simulation results: error and change of error to easily optimizing the Fuzzy
Controller and can simply change the range of the membership
At the start, the speed was zero, and at 0.0132 sec the speed function; we have a gain 0.1 for the error and 0.17 for the
increased to 800 RPM, at 0.0165 sec the speed increased to change of error.
1000 rpm at 0.1 sec a load of
10 % is added which makes undershoot at speed 0.72% the
speed comes back to its value 1000 rpm after 0.0104 sec.
As we say before we can use fuzzy logic controller to improve
the performance of the system, and in figure7, we can see the
response of the motor to the controller the rise time is 0.00977
 Figure 9 Used Simulink model for Fuzzy Controller

Our fuzzy controller uses 5 fuzzy sets, NB, N, ZERO, P, and

PB. And with two inputs, the first one is the error and the Fuzzy controller rule base:
second is the change of error, and we also have membership
functions as shown in figure 10:
Table 1 shows the rule base of the fuzzy controller used; there
are 25 rule used from the 5 fuzzy sets of the two inputs.
E
NB N ZERO P PB
CE
NB BIGDEC BIGDEC BIGDEC DEC ZERO
N BIGDEC BIGDEC DEC ZERO INC
ZERO BIGDEC DEC ZERO INC BIGINC
P DEC ZERO INC BIGINC BIGINC
PB ZERO INC BIGINC BIGINC BIGINC

Table 1 Fuzzy Controller Rule Base

Figure 11 Fuzzy Surface of The Controller

Neuro-Fuzzy simulation results:

As usual at any industry application we need all the time more

effective performance with the fastest response, so it was the
Figure 10 Fuzzy Membership Function
start of using some intelligent techniques depends on learning
like Neuro Fuzzy techniques specially ANFIS (Adaptive Neuro
Fuzzy Inference system) which also depends on Fuzzy logic
controller and integrating these rules of fuzzy in neural
network to make it learning in the system and to improve its
performance very fast.
At the start, the speed was zero, and at 0.0119 sec the speed
increased to 800 RPM, at 0.0138 sec the speed increased to
1000 rpm at 0.1 sec a load of
10 % is added which makes undershoot at speed 0.48% the
speed comes back to its value 1000 rpm after 0.00912 sec

In figure12, we can see the response of the motor to the

controller the rise time is 0.00874 sec., the settling time is Figure 14 The ANFIS Controller Architecture
0.0092 sec, and we have an overshooting 1.41 %.

PID Controller, Fuzzy Controller, and Neuro Fuzzy

In figure13, the torque has a startup value with about 1.9 N.m Controller Performance Comaprison:
and reached steady state at 0.0213 sec., and increased again at Table 2 has a comparison between all of our applied control
time 0.1 according to the increased load. The torque ripples are techniques:
about 2.29%.
Comparative study:

Reference:
Speed Rise Time Settling time Torque ripples
PID 0.005 0.025 5.43%
Fuzzy 0.02 0.023 4.82%
Our Controller :
Speed Rise Time Settling time Torque ripples
PID 0.00482 0.0215 3.71%
Fuzzy 0.00977 0.0104 2.48%
Neuro 0.00874 0.0092 2.29%
Fuzzy

Figure 12 speed response for Neuro Fuzzy Controller

Table 2 Comparative study

Conclusion:
PID controller has a moderate response with 10% load from
rated torque.it has a very good rise time 0.00482 sec. and
settling time 0.0215 sec. , with startup torque 6.6 N.M and
torque ripples 3.71%.

Fuzzy controller has a good response with the same 10% load
from rated torque.it has a rise time 0.00977 sec. which is longer
slightly than PID controller but the settling time is 0.0104 sec.
which is better than PID controller, with a decreased startup
Figure 13 torque response for Neuro Fuzzy Controller torque 3.1 N.M and torque ripples has decreased to 2.48 % so
The structure consists of five layers. First layer is the input we can conclude that totally fuzzy controller performance is
layer; second layer is the input membership function layer. better than PID controller.
Third layer is the rule layer where the inputs and outputs are Neuro Fuzzy controller has a very good response with the same
linked. Fourth layer is the output membership function layer. 10% load from rated torque. It has a rise time 0.00874 sec.
Last layer is the output layer which sums up all the inputs which is better than Fuzzy controller and with settling time
coming from the previous layer; we can see the ANFIS 0.0092 sec. which is slightly better than Fuzzy controller, with
(Adaptive Neuro Fuzzy Inference system) architecture in figure startup torque decreased to 1.9 N.M, and torque ripples has
14 [7]: decreased slightly to 2.29% so we can conclude that Neuro
Fuzzy controller is better than Fuzzy controller.
Briefly speaking we can say that PID controller is a simple
controller with a simple tuning method but with a moderate
response and performance . Fuzzy controller is more
complicated controller but with a good and more stable
performance.Neuro fuzzy controller is very complicated
controller but with a very good performance.
 References:

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F. (2015). Brushless DC motor speed control using both PI
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(2013). Neuro-fuzzy controller design for a dc motor
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