K.Harshavardhana Reddy, Sudha Ramasamy, Prabhu Ramanathan
1.096 198


This paper presents a Hybrid Adaptive Neuro Fuzzy Control technique for speed control of BLDC motor drives. The proposed controller is an integration of adaptive neuro fuzzy, Fuzzy PID and PD controllers. The objective is to utilize the best attribute of Fuzzy PID and PD controllers, which produces better response than the neuro fuzzy controllers. The Error Back Propagation learning algorithm is used to train the data to minimize learning error to the possible extent. To validate the performance of proposed controller, simulations are done in MATLAB and comparison is made with conventional PI, PD and fuzzy PID controllers. In addition, the performance of proposed controller is bench marked with other controllers reported in literature. The results of the proposed controller are promising in terms of quick settling time, zero peak overshoot and zero steady state error.  


Brushless DC Motor, Fuzzy PID controller, adaptive neuro fuzzy controller, Speed Control.

Full Text:



. Ozturk, SalihBaris, and Hamid A. Toliyat. "Direct torque and indirect flux control of brushless DC motor." IEEE-ASME T Mech, 16.2 (2011) 351-360.

. Lai, Yen-Shin, and Yong-Kai Lin. "A unified approach to zero-crossing point detection of back EMF for brushless DC motor drives without current and hall sensors." IEEE T Power Electr. 26.6 (2011) 1704-1713.

. Pillay, Pragasen, and Ramu Krishnan. "Modeling, simulation, and analysis of permanent-magnet motor drives: The permanent-magnet synchronous motor drive." IEEE T Ind Appl. 25.2 (1989) 265-273.

. Ziegler, John G., and Nathaniel B. Nichols. "Optimum settings for automatic controllers." trans. ASME. 64.11 (1942).

. Shyam, Arundhathi, and Febin JL Daya. "A comparative study on the speed response of BLDC motor using conventional PI controller, anti-windup PI controller and fuzzy controller", Control Communication and Computing (ICCC), 2013 International Conference on. IEEE, 2013.

. Shin, Hwi-Beom. "New antiwindup PI controller for variable-speed motor drives", IEEE T Ind Electron. 45.3(1998) 445-450.

. Choi, Jong-Woo, and Sang-Cheol Lee. "Antiwindup strategy for PI-type speed controller", IEEE T Ind Electron.56.6(2009) 2039-2046.

. Demirtas, Metin. "Off-line tuning of a PI speed controller for a permanent magnet brushless DC motor using DSP”, Energ Convers Manage. 52.1 (2011) 264-273.

. Panda, Sanjib K., et al. "Gain-scheduled PI speed controller for PMSM drive." Industrial Electronics, Control and Instrumentation, 1997.IECON 97.23rd International Conference on.Vol. 2.IEEE, 1997.

. Zaky, Mohamed S. "A self-tuning PI controller for the speed control of electrical motor drives", Electr Pow Syst Res 119 (2015) 293-303.

. Niapour, SA KH Mozaffari, et al. "Brushless DC motor drives supplied by PV power system based on Z-source inverter and FL-IC MPPT controller", Energ Convers Manage.52.8 (2011) 3043-3059.

. Ibrahim, H. E. A., F. N. Hassan, and Anas O. Shomer. "Optimal PID control of a brushless DC motor using PSO and BF techniques." Ain Shams Engineering Journal 5.2 (2014) 391-398.

. Kumar, Vikas, Prerna Gaur, and A. P. Mittal. "ANN based self tuned PID like adaptive controller design for high performance PMSM position control", Expert Syst Appl. 41.17 (2014) 7995-8002.

. Pan, Ching-Tsai, and Emily Fang. "A phase-locked-loop-assisted internal model adjustable-speed controller for BLDC motors”, IEEE T Ind Electron. 55.9 (2008) 3415-3425.

. Shanmugasundram, R., K. Muhammad Zakariah, and NarriYadaiah. "Implementation and performance analysis of digital controllers for brushless DC motor drives." IEEE-ASME T Mech. 19.1 (2014) 213-224.

. Ali, Jamal Abd, et al. "Fuzzy logic speed controller optimization approach for induction motor drive using backtracking search algorithm", Measurement. 78 (2016) 49-62.

. Terzic, Bozo, and Martin Jadric. "Design and implementation of the extended Kalman filter for the speed and rotor position estimation of brushless DC motor." IEEE T Ind Electron. 48.6 (2001) 1065-1073.

. Xu, Jian-Xin, Chang-Chieh Hang, and Chen Liu. "Parallel structure and tuning of a fuzzy PID controller", Automatica 36.5 (2000) 673-684.

. Reznik, Leonid, Omar Ghanayem, and Anna Bourmistrov. "PID plus fuzzy controller structures as a design base for industrial applications", Eng Appl Artif Intel. 13.4 (2000) 419-430.

. Mohan, B. M., and Arpita Sinha. "Analytical structure and stability analysis of a fuzzy PID controller", Appl Soft Comput 8.1 (2008) 749-758.

. Ahmed Rubaai, A.; Castro-Sitiriche, M.J.; Ofoli, A.R., "Design and Implementation of Parallel Fuzzy PID Controller for High-Performance Brushless Motor Drives: An Integrated Environment for Rapid Control Prototyping”, IEEE T Ind Appl vol.44, no.4, pp.1090-1098, July-Aug. 2008.

. Fereidouni, Alireza, Mohammad AS Masoum, and Moayed Moghbel. "A new adaptive configuration of PID type fuzzy logic controller", ISA T. 56 (2015) 222-240.

. Chiou, Juing-Shian, Shun-Hung Tsai, and Ming-Tang Liu. "A PSO-based adaptive fuzzy PID-controllers", Simul Model Pract Th 26 (2012) 49-59.

. Al Gizi, Abdullah JH, M. W. Mustafa, and Hamid H. Jebur. "A novel design of high-sensitive fuzzy PID controller." Applied Soft Computing. 24 (2014) 794-805.

. Beirami, Hamed, Ali ZargarShabestari, and Mohammad Mahdi Zerafat. "Optimal PID plus fuzzy controller design for a PEM fuel cell air feed system using the self-adaptive differential evolution algorithm", Int J Hydrogen Energ. 40.30 (2015) 9422-9434.

. Sant, Amit Vilas, and K. R. Rajagopal. "PM synchronous motor speed control using hybrid fuzzy-PI with novel switching functions." IEEE T Magn 45.10 (2009) 4672-4675.

. Mishra, Puneet, Vineet Kumar, and K. P. S. Rana. "A fractional order fuzzy PID controller for binary distillation column control”, Expert Syst Appl 42.22 (2015) 8533-8549.

. Xu, Yanhe, et al. "An adaptively fast fuzzy fractional order PID control for pumped storage hydro unit using improved gravitational search algorithm." Energ Convers Manage. 111 (2016) 67-78.

. Rubaai, Ahmed, and Paul Young. "EKF-based PI-/PD-like fuzzy-neural-network controller for brushless drives", IEEE T Ind Appl on 47.6 (2011) 2391-2401.

. Petković, Dalibor, et al. "Adaptive neuro-fuzzy maximal power extraction of wind turbine with continuously variable transmission", Energy 64 (2014) 868-874.

. Hafiz, Faizal, and Adel Abdennour. "An adaptive neuro-fuzzy inertia controller for variable-speed wind turbines”, Renew Energ 92 (2016) 136-146.

. Petković, Dalibor, et al. "Adaptive neuro-fuzzy estimation of conductive silicone rubber mechanical properties", Expert Syst Appl 39.10 (2012) 9477-9482.

. Petković, Dalibor, et al. "Adaptive neuro fuzzy controller for adaptive compliant robotic gripper." Expert Syst Appl 39.18 (2012) 13295-13304.

. Vatankhah, Ramin, Mehrdad Broushaki, and Aria Alasty. "Adaptive optimal multi-critic based neuro-fuzzy control of MIMO human musculoskeletal arm model", NeuroComputing. 173 (2016) 1529-1537.

. Topalov, Andon V.,et al. "Neuro-fuzzy control of antilock braking system using sliding mode incremental learning algorithm", NeuroComputing. 74.11 (2011) 1883-1893.

. Liu, Yan-Cheng, Si-Yuan Liu, and Ning Wang. "Fully-tuned fuzzy neural network based robust adaptive tracking control of unmanned underwater vehicle with thruster dynamics", NeuroComputing.196 (2016) 1-13.

. Sarhadi, Pouria, Behrooz Rezaie, and Zahra Rahmani. "Adaptive predictive control based on adaptive neuro-fuzzy inference system for a class of nonlinear industrial processes", Journal of the Taiwan Institute of Chemical Engineers. (2015) 132-137.

. Jia, Li, and Kai Yuan. "The probability density function based neuro-fuzzy model and its application in batch processes", NeuroComputing. 148 (2015) 216-221.

. Wang, Wilson, De Z. Li, and Joe Vrbanek. "An evolving neuro-fuzzy technique for system state forecasting", NeuroComputing. 87 (2012) 111-119.

. Petković, Dalibor, et al. "Adaptive neuro-fuzzy estimation of optimal lens system parameters", Opt Laser Eng 55 (2014) 84-93.

. Hasanien, Hany M., S. M. Muyeen, and Junji Tamura. "Speed control of permanent magnet excitation transverse flux linear motor by using adaptive neuro-fuzzy controller." Energ Convers Manage 51.12 (2010) 2762-2768.

. Premkumar, K., and B. V. Manikandan. "Adaptive Neuro-Fuzzy Inference System based speed controller for brushless DC motor", Neurocomputing. 138 (2014) 260-270.

. Premkumar, K., and B. V. Manikandan. "Fuzzy PID supervised online ANFIS based speed controller for brushless dc motor", Neurocomputing 157 (2015)76-90.

. Kapun, Aljaz, et al. "Identifying dynamic model parameters of a BLDC motor", ", Simul Model Pract Th 16.9 (2008) 1254-1265.

. Del Campo, Inés, et al. "Efficient hardware/software implementation of an adaptive neuro-fuzzy system." IEEE T Fuzzy Syst. 16.3 (2008) 761-778.

. Moshkbar-Bakhshayesh, Khalil, and Mohammad B. Ghofrani. "Development of an efficient identifier for nuclear power plant transients based on latest advances of error back-propagation learning algorithm", IEEE T Nucl Sci. 61.1 (2014) 602-610.

. Fausett, Laurene. Fundamentals of neural networks: architectures, algorithms, and applications. Prentice-Hall, Inc., 1994.