International Journal of Power Electronics and Drive Systems (IJPEDS)

Vol. 13, No. 2, June 2022, pp. 825~834

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v13.i2.pp825-834  825

Particle swarm optimization based high performance four

switch BLDC motor drive

Yaser Anagreh1, Moath Bani Fayyad2, Aysha Anagreh3

1
Department of Electrical Power Engineering, Hijjawi Faculty for Engineering Technology, Yarmouk University, Irbid, Jordan
2
Department of Electrical Power Engineering, Budapest University for Technology and Economics, Budapest, Hungary
3
Department of Architectur Engineering, Hijjawi Faculty for Engineering Technology, Yarmouk University, Irbid, Jordan

Article Info ABSTRACT

Article history: The present publication is directed to utilize particle swarm optimization
(PSO) algorithm-based PI controller for adjusting the speed of brushless DC
Received Nov 9, 2021 motor fed via four switch three phase inverter. The inverter topology reduces
Revised Mar 17, 2022 the cost and complexity of the drive system. High performance response
Accepted Apr 4, 2022 during transient and steady state conditions is achieved by optimizing the
controller gains using POS algorithm. The obtained results confirm the
validity of the proposed drive configuration in providing the features of fast
Keywords: dynamic response (the settling time is about 0.025 s), with minimized
percentage overshot, and approximately zero steady state error. Moreover,
BLDC Motor the drive system shows robustness feature when subjected to external load
Four switch inverter torque disturbances.
PSO algorithm

This is an open access article under the CC BY-SA license.

Corresponding Author:
Yaser Anagreh
Department of Electrical Power Engineering, Hijjawi Faculty for Engineering Technology
Yarmouk University
Irbid, Jordan
Email: [email protected]

1. INTRODUCTION
Nowadays, brushless direct current (BLDC) motors are increasingly implemented in a wide range of
applications such as automation and industrial control, aerospace, computers, robotics, and household
products [1]-[7]. Moreover, hybrid and electric vehicles, which represent a powerful alternative to
conventional vehicles, are extensively utilizing BLDC motor to acquire high performance and reliable
traction system [8]-[10]. The popularity of utilizing this motor type in various applications is due to their
merits over other motor types, including high efficiency, higher power density, reduced noise, low inertia,
low maintenance, high torque/weight ratio and compact size [1], [7], [11]-[14].
The commutation of BLDC motors is achieved electronically via position transducers. Based on the
rotor position information, a three-phase inverter accomplishes the appropriate switching for the current
supplying the motor to achieve maximum possible torque [15]. To minimize the cost of the inverter circuit,
reduce switching losses and simplify the control design four-switch three-phase inverter, instead of six
switches three phase inverter, is used [16]-[20]. For this inverter topology, direct current pulse-width
modulation (PWM) control method, instead of voltage controlled PWM approach, is used to overcome
asymmetric voltage PWM [20]. This inverter configuration has two arms containing four power electronic
switches and the third arm has two capacitors of equal capacitance value. The inverter has six switching
states each for 60° electrical. Two states are two-switch control and the other four states are one-switch
control [18]. During one-switch control states, only one of the four switches is on and the current completes

Journal homepage: http://ijpeds.iaescore.com

826  ISSN: 2088-8694

its path through one of the two capacitors. For the two-switch control states, two switches are on; the upper
switch from one leg and the lower switch from the other leg. Consequently, the switching sequence is
accomplished through six modes [21].
In the literature, several approaches have been used for speed control of BLDC motor fed by six
switch inverters. In [22] and [23] the authors have implemented sliding mode control to adjust BLDC motor
speed. Abdulhussein et al. [2] utilized PID controller enhanced with butterfly and particle swarm
optimization algorithms for BLDC motor speed control. Vinida and Chacko [25] have applied H-infinity
controller and weight filters to achieve sensorless BLDC motor speed control. In [25] the authors have
compared the use of PI and fuzzy logic controllers for speed control of BLDC motor under different
operating conditions. The use of an integrated fuzzy logic/sliding mode controller for speed control of BLDC
motor is presented in [26], [27]. Obed et al. have utilized PID controller enhanced with wavelet neural
network and particle swarm optimization (PSO) algorithm to improve the dynamic speed performance of
BLDC motor drive [28]. Song et al. [29] has used a random vibration particle swarm optimization (PSO)–
gravitational search algorithm (GSA) method in designing fuzzy PI controller for brushless DC motor
(BLDCM) drive. They concluded that the proposed approach is superior compared with PSO and GSA. The
authors of [30] have implemented neural network approach for sensorless speed control of BLDC motor.
They found that the neural network-based controller is outperforming the PID controller in terms of the
robustness feature to variable load torque changes. Fractional order PID (FOPID) controller enhanced with
firefly algorithm (FA) is utilized by Kommula and Kota [31] to adjust the speed and torque of BLDC motor.
A comparison with GA based FOPID controller has been made in this publication. Vanchinathan and
Selvaganesan [32] have applied artificial bee colony (ABC) based tuned fractional order PID (FOPID)
controller for controlling sensorless BLDC motor under different loading conditions. Based on the
comparison made with GA and the modified GA based FOPID controllers, tremendous improvements in the
motor performance are achieved with the proposed method. In publication [33] coronavirus optimization
algorithm (CVOA) based tuned PID controller is used to adjust the speed of BLDC motor subjected to
different disturbance types.
The main contribution of the present work is the achievement of low cost high performance
brushless DC motor drive system having the features of fast dynamic response, reduced percentage
overshoot, about zero steady state error and robust to external disturbances for a wide speed range. Reduced
cost and complexity drive are acquired using four switch three phase inverter. The desired time specifications
of the speed response are achieved through the implementation of particle swarm optimization (PSO) for
tuning the gains of the PI speed controller.

2. MATHEMATICAL MODELING OF BLDC MOTOR

The mathematical model of BLDC motor can be divided into electrical and mechanical
subsystems [1], [2]. The electrical equivalent circuit of a BLDC motor is shown in Figure 1. The considered
BLDC motor in the current study is inner rotor type with symmetrical stator windings. Therefore, stator
resistances as well as stator inductances are equal:
- Ra = Ra = Rc = R, La = Lb = Lc = L. In addition, the mutual inductances are assumed to be equal:
- Mab = Mba = Mac = Mca = Mbc = Mcb = M. The electrical mathematical model of the motor can be
expressed in matrix form as [7], [23], [25]:
𝑣𝑎 𝑅 0 0 𝑖𝑎 𝐿 𝑀 𝑀 𝑖𝑎 𝑒𝑎
𝑑
[𝑣𝑏 ] = [ 0 𝑅 0 ] [𝑖𝑏 ] + [𝑀 𝐿 𝑀] 𝑑𝑡 [𝑖𝑏 ] + [𝑒𝑏 ] (1)
𝑣𝑐 0 0 𝑅 𝑖𝑐 𝑀 𝑀 𝐿 𝑖𝑐 𝑒𝑐

The current relationship can be expressed as (2).

𝑖𝑎 + 𝑖𝑏 + 𝑖𝑐 = 0 (2)

The back-EMF of the motor depends on the speed of the rotor and the flux of the rotor permanent magnets. It
can be given by:

𝐹(𝛳𝑒 )
𝑒𝑎
𝑘𝑒 𝜔𝑚 𝐹(𝛳 − 2𝜋)
[𝑒𝑏 ] = [ 𝑒 3 ] (3)
2
𝑒𝑐 2𝜋
𝐹(𝛳𝑒 + )
3

The function F(e) represents the trapezoidal waveform of the back-EMF. It can be expressed by:

Int J Pow Elec & Dri Syst, Vol. 13, No. 2, June 2022: 825-834
Int J Pow Elec & Dri Syst ISSN: 2088-8694  827
2𝜋
1 0 ≤ 𝛳𝑒 <
3
6 2𝜋 2𝜋
1 − (𝛳𝑒 − ) ≤ 𝛳𝑒 < 𝜋
𝜋 3 3
𝐹(𝛳𝑒 ) = 5𝜋 (4)
−1 𝜋 ≤ 𝛳𝑒 <
3
6 5𝜋 5𝜋
{−1 + (𝛳𝑒 −
𝜋 3
)
3
≤ 𝛳𝑒 < 2𝜋 }

Based on Newton’s law, the motion equation of BLDC motor can be described as [12], [25]:
𝑑𝜔𝑚
𝑇𝑒 − 𝑇𝐿 = 𝐵𝜔𝑚 − 𝐽 (5)
𝑑𝑡

The angular rotor position 𝜃𝑟 can be obtained from the integration of the angular velocity as:

𝜃𝑟 = ∫ 𝜔𝑚 𝑑𝑡 (6)

The electromagnetic torque depends on the current, speed and the back EMF. The instantaneous
electromagnetic torque can be mathematically expressed by the following equation [12], [23]:
1
𝑇𝑒 = (𝑒𝑎 𝑖𝑎 + 𝑒𝑏 𝑖𝑏 + 𝑒𝑐 𝑖𝑐 ) (7)
𝜔𝑚

were B is the viscous friction constant, ea, eb, ec are the back EMF of each stator phase, ia, ib, ic are stator
phase currents, ke is the back-EMF constant, La, Lb, Lc are the stator phase self-inductances, Ma, Mb, Mc are
the stator phase mutual inductances, Ra, Ra, Rc are the stator phase resistances, Te is the electromagnetic
torque, TL is the load torque, va, vb, vc are stator phase voltages, e is the electrical angle, r is the angular
rotor position, m is the angular mechanical speed.

Figure 1. Equivalent circuit of a BLDC motor

3. THE PROPOSED MOTOR DRIVE SYSTEM

The schematic diagram of the proposed brushless DC motor drive system is shown in Figure 2. The
motor drive system includes two control loops. In the outer loop (speed control loop) the actual speed is
compared with the reference speed to generate the error signal, which is fed to the block of the particle
swarm optimization (PSO). The PSO algorithm provides the optimum values for the PI controller gains based
on the motor operating condition. The output of the PI controller (control signal) represents the reference
signal to the hysteresis current controller (the inner loop). The current controller, with the help of the
information provided from the position sensors, adjusts the duty cycle of the PWM fed to the four-switch
inverter in order to provide the required voltage level in the correct switching sequence.
The simulink model of the proposed system is shown in Figure 3. The output speed in rpm is
subtracted from the reference speed and the error is supplied to the subsystem of PSO based tuned PI
controller to provide an output control signal, which represent the reference current signal. The later signal
and the position information are fed to the subsystem of the hystersis current controller which order the
inverter with the proper switching commands. The detailed Simulink structure of the hysteresis current
controller is shown in Figure 4.
To assess the implementation of four switch inverter in feeding a BLDC motor drive, extensive
simulations are conducted for both four switch inverter and six switch inverter-based models. After achieving
the validity of using the four-switch inverter, the PI controller subsystem is enhanced with PSO algorithm for

Particle swarm optimization based high performance four switch BLDC motor drive (Yaser Anagreh)
828  ISSN: 2088-8694

auto tuning the gains to attain high performance BLDC motor drive. The validity of the proposed system is
confirmed by comparing the obtained results with those obtained using trial and error tuning approach. In
addition, step point tracking of the two tuning approaches is compared. The results obtained for all
investigated conditions are presented in the following section.

Figure 2. Schematic diagram of the proposed BLDC motor drive system

Figure 3. Simulink model of the proposed BLDC motor drive system

Figure 4. Simulink sub-system of hysteresis current controller

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  829

4. RESULTS AND DISCUSSION

The results presented in this section are obtained for a BLDC motor having a stator resistance per
phase of 2.875  stator inductance per phase of 8.5 mH, torque constant of 0.84 Nm/A, moment of inertia
constant of 0.8×10-3 kg.m2, viscous friction constant of 0.5×10−5 Nm.s and four pole pairs. The obtained
results for speed response of BLDC motor fed by six switch inverter is shown in Figure 5. The corresponding
results for the motor supplied through four-switch inverter are shown in Figure 6. For the two configurations,
a disturbance of 2.5 N.m load torque is applied after 0.15 second of starting. Extensive simulations are
carried out for the two schemes to achieve the best PI controller gains and the best band for the hysteresis
current controller. As can be observed, the obtained results for speed response of BLDC motor drive fed by
four-switch inverter are close to the corresponding results of six switch inverter configuration. The close
agreement between the results of the two configurations motivates the use of four-switch inverter, which
leads to a BLDC motor drive system having the features of reduced cost, less complexity and minimized
switching losses.

Figure 5. Closed loop speed response of BLDC motor drive fed by a six-switch inverter

Figure 6. Closed loop speed response of BLDC motor drive fed by a four-switch inverter

The results of speed, current, back-EMF and electromagnetic torque for PSO based tuning the speed
control of the BLDC motor fed via four switch inverter are shown in Figures 7-10 respectively. A disturbance
of 2.5 N.m load torque is applied after 0.15 second of starting. The PSO algorithm succeeded to find the
optimum PI controller gains kp and ki after 40 iterations. The obtained values for kp and ki are 4.911 and 0.122,
respectively. From the results of the time response for speed, current, back EMF and electromagnetic torque,
it can be noticed that the utilized control approach provides fast response and very short recovery time in
response to the application of external load torque disturbance. The spikes shown in the results of the current
and electromagnetic torque during the first 20 ms of starting are due to a problem in the startup of the
Simulink simulations. A comparison between the results of Figure 7 with those presented in Figure 6
confirms the validity of the proposed control system. A tremendous improvement in the motor speed
response, during both transient and steady-state operating conditions, can be observed.
Table 1 presents a comparison between the time specifications for speed response of PSO based
tuned speed controller of BLDC motor drive fed by four inverter switches (the proposed system) with those
obtained using trial and error approach for the same system. It can be noticed that the proposed BLDC motor
drive system provides a noticeable improvement in the speed response. The proposed system has the features
of fast dynamic response, reduced percentage overshoot and zero steady-state error.

Particle swarm optimization based high performance four switch BLDC motor drive (Yaser Anagreh)
830  ISSN: 2088-8694

Figure 7. Response of PSO based tuning speed control of BLDC motor drive fed by a four-switch inverter

Figure 8. Current response of PSO based tuned PI Figure 9. Back EMF response of PSO based tuned PI
controller for BLDC motor drive fed controller of BLDC motor drive fed
by four switch inverters by four switch inverters

Figure 10. Electromagnetic torque response of PSO based tuned PI controller of BLDC motor drive fed by
four switch inverters

Table 1. Time specifications for speed control of BLDC motor fed by four-switch inverter
Time Specification Trial and error-based tuning PSO based tuning
Settling time, ts (sec) 0.15 0.025
Overshoot (%O.S) 25% 3.33%
Steady state error, ess (%) 0 0

Set point tracking is an important feature of feedback speed control since it shows the behavior of
the controller in tracking the changes in the reference speed. The results of set point tracking for the changes
in reference speed, with applied load torque of 2.5 N.m, for speed control of BLDC motor drive fed by four
switch inverter is shown in Figure 11. The PI speed controller gains of the outer loop in this configuration are
obtained using trial and error approach. The corresponding results for the use of particle swarm optimization
(POS) to tune the PI controller gains are shown in Figure 12. It can be seen that the utilization of PSO for
tuning the PI speed controller has greatly minimized the overshoot during the changes in the reference speed;

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  831

the percentage overshoot is approximately zero. Moreover, the time response of each step is minimized
(faster response) and the steady state error is reduced. The results obtained enhance the validity and the
accuracy of the proposed BLDC motor drive configuration.

Figure 11. Set point tracking for trial and error based tuning PI speed controller of BLDC motor drive fed by
four switch inverters

Figure 12. Set point tracking for PSO based tuning PI speed controller of BLDC motor drive fed by four
switch inverters

The obtained results for the time responses of current and electromagnetic torque under the same
operating conditions of the above set point tracking of the proposed drive system are shown in Figure 13 and
Particle swarm optimization based high performance four switch BLDC motor drive (Yaser Anagreh)
832  ISSN: 2088-8694

Figure 14, respectively. It can be observed that the proposed drive system has the features of fast dynamic
response and the ability of recovering to a new state within a very short time period, in response to the
changes in reference speed. As stated before, the appearance of spikes during the first 20 ms is due to a
problem in startup of Simulink simulations.

Figure 13. Current response for step changes in reference speed of the proposed brushless DC
motor drive system

Figure 14. Electromagnetic torque response for step change in reference speed of the proposed
BLDC motor drive

4. CONCLUSION
Particle swarm optimization (PSO) based tuning PI speed control BLDC motor fed by four switch
inverters has been investigated in the present research work. Four-switch inverter, instead of the conventional
six-switch inverter, is used to minimize the cost, switching losses and complexity of BLDC motor drive
system. The PSO algorithm is utilized to achieve high performance speed control motor drive system. To
confirm the validity, extensive simulations for BLDC motor drive configurations under different operating
conditions are carried out. The results obtained show that the proposed controller poses the best time
response features. It has a fast dynamic response (settling time is approximately 0.025 s), approximately zero
percentage overshoot and nearly zero steady state errors. Moreover, the speed controller is robust to external
load disturbances.

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BIOGRAPHIES OF AUTHORS

Yaser Anagreh is a professor in Electrical Power Engineering Department at

Yarmouk University, Irbid, Jordan. He received his B.Sc. in Electrical Engineering from
University of Technology, Baghdad, Iraq, in 1984; M.Phil. and Ph.D. degrees in Electrical
Engineering from University of Wales, Swansea, UK in 1995 and 1998, respectively. He has
been a professor in YU, Irbid, Jordan since 2013. He is currently a faculty member in EPE
Department at YU. His research interests include electrical machines, electric motor drives
and renewable energy systems. He can be contacted at email: [email protected].

Mo’ath Bani Fayyad is a Ph.D. student in Budapest University of Technology

and Economics, Budapest, Hungary. He received his B.Sc. and M.Sc. degrees in Electrical
Power Engineering from Yarmouk University, Irbid, Jordan, in 2013 and 2019, respectively.
He was working as a quality control engineer with KADDB in Jordan and as a Laboratory
engineer at Yarmouk University, Jordan. His research interests include Electric Motor Drives
and electrostatic precipitators. He can be contacted at email: [email protected].

Aysha Anagreh has received her B.Sc. degree in Civil engineering / construction
management from Yarmouk University, Irbid, Jordan in 2018 and her M.Sc. degree from
Budapest University of Technology and Economics, Budapest, Hungary in 2019. She was
working as a part time lecturer at both Yarmouk University and Al-Balqa’ Applied University,
Irbid, Jordan. She is currently applying to several US universities to pursue her Ph.D. study.
Her research interests include structural engineering, construction materials, engineering
education and algorithms-based engineering schemes. She can be contacted at email:
[email protected].

Int J Pow Elec & Dri Syst, Vol. 13, No. 2, June 2022: 825-834