International Journal of Power Electronics and Drive Systems (IJPEDS)

Vol. 15, No. 1, March 2024, pp. 127~135

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v15.i1.pp127-135  127

Implementation of ARM STM32F4 microcontroller for speed

control of BLDC motor based on bat algorithm

Izza Anshory1,3, Arief Wisaksono1, Jamaaluddin Jamaaluddin1,3, Ahmad Fudholi2,3

1
Department of Electrical Engineering, Faculty of Science and Technology, Universitas Muhammadiyah Sidoarjo, Sidoarjo, Indonesia
2
Solar Energy Research Institute, Universiti Kebangsaan Malaysia, Selangor, Malaysia
3
Research Center for Energy Conversion and Conservation, National Research and Innovation Agency (BRIN), Jakarta, Indonesia

Article Info ABSTRACT

Article history: Brushless direct current (BLDC) motor speed performance is an essential
component that must be considered in the electric vehicle drive system. This
Received Sep 7, 2022 research aims to obtain the transfer function from the mathematical
Revised Jul 20, 2023 modeling of the BLDC motor and optimization of the BLDC motor so that a
Accepted Aug 9, 2023 high transient response is received. The method used in this study is to
identify system parameters and then model them using the structure of the
autoregressive exogenous (ARX) polynomial model. Meanwhile, to get a
Keywords: high transient response performance, optimization is done with a hybrid
intelligent controller. The experimental findings indicate that the
ARX modelling optimization process utilizing the bat method yielded the most favorable
BLDC motor transient response. The resulting values for the proportional gain (Kp),
Intelligence controller integral gain (Ki), and derivative gain (Kd) were determined to be 31.2685,
Microcontroller 7.7375, and -1.1934, respectively. In the current investigation, the minimum
PID controller frequency value is 6381934.619. Also determined are the transient response
characteristics, which include a rise time of 0.289 seconds, a settling time of
10.9 seconds, an overshoot of 3.4%, and a peak time of 1.04 seconds.
Furthermore, the closed-loop system demonstrates stable behavior in terms
of stability.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Izza Anshory
Department of Electrical Engineering, Faculty of Science and Technology
Universitas Muhammadiyah Sidoarjo
Sidoarjo, Indonesia
Email: [email protected]

1. INTRODUCTION
Although the utilization of new and renewable energy sources remains a viable option, the
escalation of economic activity and population growth has led to an augmented need for fossil fuels such as
coal, natural gas, and oil [1], [2]. Three things are brought about by this economic activity: i) The depletion
of petroleum reserves; ii) The rise and volatility of the price of petroleum fuel as a result of the increased
demand for oil production; and iii) The rise in glasshouse gas emissions as a result of the burning of fossil
fuels [3]. In light of the widening disparity between energy supply and demand, the usage of fossil fuels
makes national energy security vulnerable [4]. Furthermore, the utilization of new renewable energy (EBT) is
imperative for the attainment of national energy sovereignty, aligning with Indonesia's objective of reducing
glasshouse gas (GHG) emissions as stipulated in the Paris agreement [5], [6].
The automotive industry has created electric vehicles as a result of the availability of nonrenewable
natural resources [7] for instance, electric bicycles, motorcycles, and vehicles [8], [9]. The electric motor,
which is a prime mover in electric vehicles, is what makes them run. Because they employ brushes for motor

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128  ISSN: 2088-8694

commutation, direct current (DC) electric motors, which are often used, require expensive maintenance [10].
When used, brushes on DC motors will quickly become destroyed. A brushless direct current (BLDC) motor
is employed as a solution to this issue due to its benefits of high motor torque and simple speed
management [11]–[13].
In order to ensure optimal operation and facilitate the adjustment of motor rotation speed as
required, the utilization of a control system is important for brushless DC (BLDC) motors [14]. A three-phase
inverter is utilized by the BLDC motor speed control system for digitally controlled switching by a
microcontroller [15]. Accurate variable speed configurations are important for the ARM STM32F4
microcontroller, which is employed to operate a BLDC motor by means of the metal oxide semiconductor
field effect transistor (MOSFET) driver's on-and-off control mechanism [16]. The variable speed of the ARM
STM32F4 microcontroller is determined by generating six pulse width modulation (PWM) pulses that are
sent to the MOSFET driver board in order to control the switching sequence [17]. The operation of a three-
phase brushless DC (BLDC) motor is facilitated by a MOSFET driver, consisting of six N-channel power
MOSFETs connected to a three-phase bridge [18]–[21].
The BLDC motor's performance and speed may be impacted when running under load conditions.
As a result, it is critical to use a controller capable of maintaining a constant speed for the BLDC motor
following the predefined set-point, especially while the motor is working under load. The speed of the BLDC
motor is controlled by a proportional integral derivative (PID) controller based on the bat algorithm. The bat
algorithm was chosen because of its positive properties, such as its potential for rapid convergence in the
early phases and its ability to move from exploration to exploitation as optimality neared.

2. METHOD
The research's methodology, titled "Implementation of ARM STM32F4 microcontroller for speed
control of BLDC motor based on bat algorithm," was divided into several stages, including hardware design,
mathematical modelling of BLDC motors, and optimization with a PID controller based on the bat algorithm.
In the hardware design stage, the electronic components needed for the BLDC motor control system will be
selected and assembled as needed. Mathematical modelling of the BLDC motor aims to obtain a
mathematical representation of the BLDC motor which will later be used in the optimization process.
Meanwhile, the optimization process with bat algorithm-based PID control is carried out to improve the
efficiency and accuracy of motor speed control.

2.1. Hardware design

The microcontroller is a component that functions as the brain of the PID controller implementation
system in the prototype control system of BLDC motor speed using ARM STM32F4. The microcontroller
generates the PWM waves used for the MOSFET switching in the 3-phase inverter at the rotation speed of
the BLDC motor. In addition, the microcontroller also receives input from the Hall effect sensor to determine
the processed PWM output from using the PID control system algorithm. In this study, the microcontroller
used was the DSP STM32F407. STM32F407 module PCB board series has been joined and made with the
LCD circuit. Microcontroller STM32F407 has many ports. Because each pin on each port serves a specific
purpose to support the work system, it must be regulated in the input-output planning (I/O). Figure 1 depicts
the plant's block architecture optimization speed control of BLDC motor. In Figure 1, the hall effect sensor
output is used as an input signal by the ARM microprocessor to produce a PWM signal with a variable duty
cycle. The 3-phase inverter switching that serves as the BLDC motor speed regulator will be activated by this
PWM signal.

Figure 1. Block diagram of the speed control mechanism of a brushless DC (BLDC) motor

2.2. BLDC motor mathematical modeling

To collect measurement data, the parameters of the BLDC motor system must first be identified.
Following that, simulations based on the gathered measurement data must be run in order to generate
mathematical equations. The mathematical equation is used to build the framework of the BLDC motor plant
model, demonstrating the relationship between input data parameters and output data. The BLDC motor's

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  129

mathematical model was developed using the autoregressive exogenous (ARX) model, which is specified
by (1) [22].

𝑦(𝑡) + 𝑎1 𝑦(𝑡 − 1) + ⋯ 𝑎𝑛𝑎 𝑦(𝑡 − 𝑛𝑎) = 𝑏1 𝑢(𝑡 − 𝑛𝑘) + ⋯ + 𝑏𝑛𝑏 𝑢(𝑡 − 𝑛𝑏 − 𝑛𝑘 + 1) + 𝑒(𝑡) (1)

2.3. BLDC motor speed control optimization

The optimization of BLDC motor speed control involves two stages: the use of a proportional
integral derivative (PID) controller and the use of the bat algorithm-based optimization technique, such as in
Figure 2. In the first stage, the PID controller part is used to regulate the dynamic response of the BLDC
motor and to reduce the steady-state error. While in the second stage, the bat algorithm-based optimization
technique is applied to find the best PID parameters that can provide optimal control performance.

Figure 2. PID controller optimization block using bat algorithm

2.3.1. Optimization using PID controller

PID control in this final project is used to maintain the stability of the RPM output RPM BLDC
Motorbike to remain constant at 300 rpm. A development of conventional control, the proportional integral
derivative (PID) controller seeks to optimize the system's control performance [23], [24]. The construction of
the PID control system is straightforward, and each parameter is not independent. By integrating the three
controllers (proportional, integral, and derivative) in parallel to form a PID controller, it becomes possible to
effectively weigh the advantages and disadvantages of each individual controller
(P, I, and D) against each other [25], [26]. It is anticipated that the designed system will have a quick rise
time, the least amount of overshoot, and no steady state inaccuracy. The transfer function of the PID
controller illustrate as (2) and (3) [27], [28].
1 1 𝑑𝑒(𝑡)
𝑢(𝑡) = 𝐾𝑝 (𝑒(𝑡) + ∫0 𝑒(𝑡)𝑑𝑡 + 𝑇𝑑 ) (2)
𝑇 𝑑𝑡

1
𝐾𝑖 = 𝐾𝑝 𝑥 and 𝐾𝑑 = 𝐾𝑝 𝑥𝑇𝑑 (3)
𝑇𝑖

The three parameters P, I, and D have a significant influence on the PID controller's
characteristics [29]. The prominence of each element's attributes will depend on how the constants Kp, Ki,
and Kd are changed. It is possible to set one or more of the three constants to stand out more than the others.
Outstanding constants that will impact the responsiveness of the entire system. To get the required output
signal, the control system must enhance the system's dynamic response. A good control system responds well
to different input signals [14].

2.3.2. Optimization using the bat algorithm

The bat algorithm was developed as a result of studying how bats use sonar waves to locate eating
sites [30]. This algorithm works based on the bat species echolocation mechanism when using the
echolocation method to detect prey [31], [32]. The effectiveness of bats in obtaining settlements depends on
the frequency or wavelength setting in obtaining the optimal balance between exploration and
exploitation [33]. Each bat is coded with velocity 𝑣𝑖𝑡 and location 𝑥𝑖𝑡 , at t iterations, in the d-dimensional
search or solution space. Location can be considered as a solution vector for solving a problem. Some ideal
rules that serve as guidelines in solving bat algorithms with the following assumptions [34]–[37]:
- Using the echolocation technique, all bats can recognise and locate prey;
- Each bat has a different loudness and frequency, and all bats fly at a frequency of min while moving at a
speed of vi; and
- Each bat's volume ranges from the lowest value (Amin) to the highest value (A0).
Mathematical equation for bat algorithm in updating location 𝑥𝑖𝑡 , and speed 𝑣𝑖𝑡 can be written as (4),
(5), and (6).
𝑓𝑖 = 𝑓𝑚𝑖𝑛 + (𝑓𝑚𝑎𝑥 − 𝑓𝑚𝑖𝑛 )𝛽 (4)
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𝑣𝑖𝑡 = 𝑣𝑖𝑡−1 + (𝑥𝑖𝑡−1 − 𝑥∗ )𝑓𝑖 (5)

𝑥𝑖𝑡 = 𝑥𝑖𝑡−1 + 𝑣𝑖𝑡 (6)

With β [0,1] acting as a uniformly distributed random vector. Additionally, during iterations, the volume
and pulse emission levels may change. The (7) and (8) can be used to modify the pulses' volume and
emission levels simply.

𝐴𝑡+1
𝑖 = 𝛼𝐴𝑡𝑖 (7)

𝑟𝑖𝑡+1 = 𝑟𝑖0 [1 − 𝑒𝑥𝑝(−𝛾𝑡)] (8)

Following is an explanation of the stages of the bat algorithm [38]–[40]: The implementation of the
bat algorithm begins with the initialization of its parameters. This involves the establishment of the initial
population of bats and the determination of the maximum iteration required to attain the optimal
𝑥𝑏𝑒𝑠𝑡 solution within the population. Subsequently, every bat is allocated arbitrary values for its positional
attribute (𝑥𝑖 ), velocity attribute (𝑣𝑖 ), frequency attribute (𝑓𝑖 ), loudness attribute (𝐴𝑖 ), and pulse rate attribute
(ri) As the algorithm advances and under the condition that the value of t remains below the maximum
threshold, the positional, velocity, and frequency attributes of each bat are modified. Following this, a
stochastic value is generated for each individual bat. In the event that the value exceeds the threshold value ri,
a localized location is generated based on the updated position (𝑥𝑖 ). In contrast, in cases where the random
value is not only smaller than (ri) but also falls below 𝐴𝑖 , and as𝑓(𝑥𝑖𝑡 ) is lower than 𝑓(𝑥 ∗ ), the algorithm will
increase the value of ri, decrease the value of 𝐴𝑖 , and afterwards choose the position that yields the highest
overall score. The parameters utilized in the bat algorithm as outlined in this work are presented in Table 1.

Table 1. The initial parameters of bat algorithm

Parameter Value
Population size 20
Number of generations 50
Loudness 0.5
Pulse rate 0.5

3. RESULTS AND DISCUSSION

3.1. ARM STM32F4 microcontroller system
The ARM STM32F4 microcontroller receives the output signal from the BLDC motor's hall effect
sensor. The microcontroller will then send a pulse width modulation (PWM) signal to the MOSFET driver,
which will act as an inverter to operate the BLDC motor. Figure 3 depicts the results of the BLDC motor
system test.
Figure 3 shows the test results for measuring the PWM value, voltage, and rotational speed of the
BLDC motor. Figure 4 shows a change in the value of the voltage and PWM causing a change in the
rotational speed of the BLDC motor. The graph also shows that there is an overshoot at the 130th second to
the 405th second with a speed above 250 rpm.

Figure 3. Testing the ARM STM32F4 microcontroller system

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Figure 4. PWM test results, voltage, and BLDC motor rotation speed

3.2. Mathematical model of BLDC motor

The measurement data of the ARM STM32F4 microcontroller system test results were utilized to
conduct a simulation test employing the system identification toolbox (SIT) application within the MATLAB
programmed. This test aimed to determine the model accuracy test value (best fit), which was found to be
83.04%. The mathematical model of the BLDC motor, as represented by (8), exhibits a transient response
graph, which is depicted in Figure 5. In Figure 5 which shows the transient response of the mathematical
model of the BLDC motor plant.

Figure 5. Response transient plant BLDC motor

3.3. PID controller

Figure 6 depicts the test simulation block utilized for optimization purposes with the proportional-
integral-derivative (PID) controller. Figure 7 presents a visual illustration of the step response pertaining to
the enhancement of speed control for a brushless direct current (BLDC) motor. This improvement is achieved
by employing a proportional-integral-derivative (PID) controller. The PID controller analyses the computed
disparity between the achieved speed and the predefined speed set point of the BLDC motor to establish the
intended speed set point. The utilization of the PID controller auto tuning technique was implemented in
order to ascertain the optimal values of Kp, Ki, and Kd, with N being assigned a value of 13.8279. The

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resultant values were Kp = 0.5161, Ki = 0.023165, and Kd = -0.037296. The transient response outcomes for
the PID controller are presented in Table 2.

Table 2. System performance

Parameter respons Value
Rise time 12.8 seconds
Settling time 118 seconds
Overshoot 6.64%
Peak 1.07
Close-loop stability Stable Figure 6. Block of Simulink optimization with PID controller

Figure 7. Graph of step response optimization using the PID controller

3.4. PID optimization with bat algorithm

Figure 8 depicts the Simulink block diagram illustrating the performance evaluation of the BLDC
motor system when optimized by the utilization of both the PID controller and the bat algorithm. Figure 8
depicts the transfer function of the brushless DC (BLDC) motor, which has been optimized by the utilization
of a proportional-integral-derivative (PID) controller in conjunction with the bat method. The objective of
this study is to determine the ideal values for the Kp, Ki, and Kd constants. The simulation results are shown
in Figure 9.
The graph in Figure 9 depicts the transient response obtained from the optimization of the PID
controller by the utilization of the bat method. Based on the outcomes of the simulation, the gain constant
values for Kp, Ki, and Kd are determined to be 31.2685, 7.7375, and -1.1934, respectively. In the present
context, it is seen that the minimum frequency value is 6381934,619, while the transient response value is
determined by the rise time of 0.289 seconds, settling time of 10.9 seconds, overshoot of 3.4%, peak time of
1.04, and the close loop stability is deemed stable.
Table 3 displays a comparison of variables pertaining to the performance of the optimized BLDC
motor speed control system when employing a hybrid intelligent controller. According to the data presented
in Table 3, there is a notable improvement in the performance of the brushless DC (BLDC) motor speed
control system when a smart hybrid control, combining the proportional-integral-derivative (PID) controller
with the bat algorithm, is used.

Table 3. System performance

Parameter response System performance
PID controller PID-bat algorithm
Rise time 12.8 seconds 0.289 seconds
Settling time 118 seconds 10.9 seconds
Overshoot 6.64% 3.4 %
Peak 1.07 1.04
Close-loop stability Stable Stable

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Figure 8. Simulink optimization PID controller with bat algorithm

Figure 9. Graph of step response optimization using the PID controller

4. CONCLUSION
Based on the findings derived from measurements, testing, and simulations conducted in the context
of research endeavors titled "Implementation of ARM STM32F4 microcontroller for speed control of BLDC
motor based on bat algorithm," it can be inferred that multiple stages were undertaken to achieve optimal
system performance. These stages encompassed tool design, variable measurement of PWM values,
mathematical modelling, and enhancement of system performance through the utilization of a PID controller,
as well as an optimized PID controller employing the bat algorithm. The optimization findings indicate that
the optimal value is achieved when the PID controller is optimized with the bat algorithm.

ACKNOWLEDGEMENTS
Thank you to the Directorate of Research and Community Service (DRPM) Universitas
Muhammadiyah Sidoarjo and Research Center for Energy Conversion and Conservation, National Research
and Innovation Agency (BRIN), Indonesia contract number B-15303/III.3.1/TU.05.01/12/2022 for providing
financial assistance for research activities.

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BIOGRAPHIES OF AUTHORS

Izza Anshory holds the position of lecturer within the Electrical Engineering
Department at Universitas Muhammadiyah Sidoarjo (UMSIDA), located in Sidoarjo,
Indonesia. He obtained their Bachelor of Engineering (B.Eng.), Master of Engineering
(M.Eng.), and Doctor of Philosophy (Ph.D.) degrees in the field of Electrical Engineering
from Universitas Brawijaya Malang, Institut Teknologi Sepuluh Nopember (ITS) Surabaya,
and Institut Teknologi Sepuluh Nopember (ITS) Surabaya, respectively. Since 2015, he has
held the position of Associate Professor at UMSIDA, located in Sidoarjo, Indonesia. Presently,
he holds the esteemed position of Editor-in-Chief at the journal of electrical and electronics
engineering updates (JEEEU) while concurrently serving as the leader of the Power
Electronics System Research Group. His research interests encompass the fields of BLDC
motors, applications of renewable energy, and the domain of artificial intelligence. He can be
contacted at email: [email protected].

Arief Wisaksono holds the position of lecturer within the Electrical Engineering
Department at Universitas Muhammadiyah Sidoarjo (UMSIDA), located in Sidoarjo,
Indonesia. He obtained his Bachelor of Engineering (B.Eng.) and Master of Engineering
(M.M.) degrees in the field of Electrical Engineering from Universitas Muhammadiyah
Surabaya and Universitas Dr. Soetomo Surabaya, respectively, in the years 1992 and 2010.
Since 2013, he has held the position of Associate Professor at UMSIDA, located in Sidoarjo,
Indonesia. The researcher's areas of interest encompass the drive motor and uses of renewable
energy. He can be contacted at email: [email protected].

Jamaaluddin Jamaaluddin was born in Surabaya on October 10th, 1970. He

graduated with a Bachelor's degree. In 1993, he received a bachelor's degree in engineering
from Brawijaya University, Malang. He continued his master's in management in 2012 at
Muhammadiyah University, Yogyakarta. Furthermore, in 2015, the author continued his
doctoral studies at ITS Surabaya Electrical Engineering and graduated in 2021. He started his
career as a lecturer in Electrical Engineering, Faculty of Science and Technology,
Muhammadiyah University of Sidoarjo. He can be contacted at email:
[email protected].

Ahmad Fudholi was born in Riau on April 29th, 1980. The author is listed as the
Coordinator of Renewable Energy Technology Group at the Research Center for Energy
Conversion and Conservation, National Research and Innovation Agency (BRIN), Indonesia.
Associate Professor (Lecturer/Research Fellow) at the Solar Energy Research Institute (SERI),
UKM, Malaysia. He can be contacted at email: [email protected].

Implementation of ARM STM32F4 microcontroller for speed control of BLDC motor based … (Izza Anshory)