2022 IEEE 18th International Colloquium on Signal Processing & Applications (CSPA 2022), 12 May 2022, Selangor, Malaysia

Control Speed of BLDC Motor using PID

Md Rafiqul Islam S. M. A. Motakabber*
Md Mahmud*
Mechatronics Engineering Electrical and Computer Engineering
RCNMET, School of Engineering and
International Islamic University International Islamic University
Technology
Malaysia Malaysia
Sunway University
Selangor, Malaysia Selangor, Malaysia
Selangor, Malaysia
[email protected] [email protected]
2022 IEEE 18th International Colloquium on Signal Processing & Applications (CSPA) | 978-1-6654-8529-6/22/$31.00 ©2022 IEEE | DOI: 10.1109/CSPA55076.2022.9782030

[email protected]
Khan Elnas Afroz A. K. M. Ahasan Habib
Md Dara Abdus Satter
Mechatronics Engineering Information Science and Technology
Electrical and Electronic Engineering
Universiti Teknikal Malaysia Melaka Universiti Kebangsaan Malaysia
Daffodil Inernational University
Melaka, Malaysia Selangor, Malaysia
Dhaka, Bangladesh
[email protected] [email protected]
[email protected]

Abstract— The current development of science, technology,

and industrial revolutions did not happen suddenly. Many
years of empirical investigation efforts by human intelligence
have brought the world to its present state. As a result, new
technologies and innovations would move human civilization to
a more advantageous position every day. One of the other
remarkable inventions of the present day is the brushless DC
(BLDC) motor. The BLDC motors can play a huge role in
making the industry most dynamic in the future. It has many
advantages over conventional DC and AC motors. However, Fig. 1. BLDC motor management system diagram [24].
BLDC motors have been used in various electrical and
electronic devices. The BLDC motors need a suitable control
driver system to control the speed and torque to get better
performance. This study utilizes the MATLAB-Simulink Designing the drive of motor for BLDC is one of the
software to develop a combination of propositional integral challenging tasks in terms of complexity and operational
derivative (PID) controllers that help control the BLDC aspect. Nowadays, by using modern technologies, the
motor’s speed more efficiently. Enhancement of the capacity of designers propose various types of BLDC motor designs that
the PID controller is the main agenda of this paper. Finally, the increase the controllers' speed [14-16]. The traditional PID
study has undergone some tests to verify whether the BLDC control system is simple and highly reliable. However, most
motor using the PID system is more suitable and efficient than industrial processes vary with the degree of nonlinearity,
other controllers. variable in parameters, and uncertainties in system models.
As a result, the PID controllers exhibit poor stability,
Keywords— PID, DC motor, BLDC motor, EMF creating difficulty tuning the physical system. With these
circumstances, achieving the optimal state in the field is
I. INTRODUCTION difficult [17-20]. Occasionally, a different feature is seen in
the PID controller’s practical application. The uncertainty of
The Revolution of the industrial span was started by
the well-structured prototype, the variety of nonlinearity, and
formulating the concept of the motor. Although different
the low variability may be present in its operation. To
motors have evolved, two categories of the motor are used
minimize the system's complexity and get the higher output
everywhere, known as AC motor & DC motor, respectively
of the controller, tuning the system is one of the best options
[1-2].
to adopt. Practically, tuning the PID controller is not an easy
Different types of DC motors are available in the market job. Thus, optimal conditions under practical work would
with various gadgets. Mainly the DC motors are used become a challenging task [21-24]. Controller performance
commercially in the markets can be categorized into two sometimes defends battery performance. EVs used LIBs to
different types. First, the transition is created by energy with control their vehicle [25-26].
the help of field curl of the static shaft format, and secondly,
This suggested a PID controller management system that
most of the experts do not depend on the wire-wound field
can improve the pace of controlling capacity for the BLDC
posts; a super durable magnet is more suitable to supply the
motor. On the other hand, PID controllers can be tuned to get
expected air hole motion [3-8]. The BLDC engine is
higher efficiency. In that case, the input and membership
presented as a long-lasting magnet simultaneous engine with
functions of the PID are required to improve, and a set of
a trapezoidal back EMF waveform structure. However, the
principles must be followed for the proportionate (Kp),
BLDC motor does not involve brushes for compensation.
integral (Ki), and differential (Kd) constant for the same.
Rather, it involves an electronic interaction for compensation
Here, the proposed PID controller could be redesigned using
reasons. The current pattern shows that elite presentation
mathematical modelling theories.
BLDC motor innovations are greatly utilized for variable
speed drives in modern applications and electric vehicles [9- This research project aims to demonstrate the dynamic
13]. An essential control framework for the BLDC engine is response of the proposed modified PID controller. It would
displayed in Figure 1. improve the control of a BLDC motor while also allowing it
to run continuously during load changes. According to the
research the PID controller outperforms the other control
system types.

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 2022 IEEE 18th International Colloquium on Signal Processing & Applications (CSPA 2022), 12 May 2022, Selangor, Malaysia

II. SPEED CONTROL FOR BLDC MOTOR

A DC motor’s speed depends on factors such as driving
voltage-current regulation, back EMF (electromotive force),
which generates when the motor is running, etc.; sections A
and B describe these details.

A. Speed Control System

Various speed controllers are used in the industry for
direct current motor systems. Figure 2 represents the
controlling speed of the BLDC motor. For example,
electromotive forces would tune the inner loop, while the
outer loop generates the signals for an inverter or driver gate
circuit. For controlling the speed of the PID controller, the
DC bus output bus has been modified. So, DC power is
needed to control the system, which determines the speed of
the motor and mechanical load capacity. The system also
Fig. 3. Decoder model for back EMF Table 1.
requires an electronic controller to store the PID system's
microprogram. Different types of sensors are linked together
to collect data such as sample voltage, current, speed, etc.
Similarly, Table II and Figure 4 represent the truth table
for the decoder and inverter switching MATLAB/Simulink
model, respectively Where Emf_abc is Emf_xyz.

TABLE II. INVERTER TABLE

Emf Emf y Emf z xx1 yy2 zz3 tt4 mm5 nn6

x
0 0 0 0 0 0 0 0 0
0 -1 +1 0 0 0 1 1 0
-1 +1 0 0 1 1 0 0 0
-1 0 +1 0 1 0 0 1 0
+1 0 -1 1 0 0 0 0 1
+1 -1 0 1 0 0 1 0 0
Fig. 2. Block diagram for controlling the speed of BLDC controller. 0 +1 -1 0 0 1 0 0 1
0 0 0 0 0 0 0 0 0
B. Back EMF
The hall sensor notifies the decoder block, which
generates a signature for the signal vector of electricity of the
back EMF. The motherboard includes three-triode to power
converters for extrapolating with the power transistors in the
phases of the BLDC motor. The switching sequence is
defined by the rotor position of the MOSFET transistors. The
three equestrian hall devices [9-10] notice the starter. It
causes the current to flow in the opposite direction, causing
the motor to turn in the opposite direction. Table I depicts the
logic of the gate used to convert electromagnetic power into
six signals. Wher h.a, h.b and h.c is a.x, b.y and c.z. Figure 3
depicts the MATLAB/Simulink model for EMF-based on the
decoder truth Table I.

TABLE I. DECODER TRUE TAB;LE

a.x b.y c.z Emf x Emf y Emf z
0 0 0 0 0 0 Fig. 4. MATLAB/Simulink model for inverter switching logic.
0 0 1 0 -1 +1
0 1 0 -1 +1 0
0 1 1 -1 0 +1
1 0 0 +1 0 -1 III. MODULE OF THE PID CONTROLLER
1 0 1 +1 -1 0
It is required to control the DC motor need a controller
1 1 0 0 +1 -1
circuit for its good performance.
1 1 1 0 0 0
There are many types of controllers; however, the main
objective is to design an efficient PID control system that

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 2022 IEEE 18th International Colloquium on Signal Processing & Applications (CSPA 2022), 12 May 2022, Selangor, Malaysia

Fig. 5. MATLAB/Simulink model design for PID controller.

IV. RESULTS AND DISCUSSION

may control the BLDC controller. A PID controller has
three parts, namely, proportional, integral, and differential. Figure 6 presents the speed stability performance of the
Figure 5 shows a complete MATLAB/Simulink design proposed PID controller at 2500 rpm BLDC motor. The X
model for the PID controller with a brushless DC motor. and Y axes in this figure represent the time and rpm speed of
the BLDC motor under various load condition. The graph
shows that the speed settling time for 20% to 80% of the full
speed is 18 ms, which is very fast. There is no overshoot-
The performance of this model G(s) for the PID
undershoot and maintain a constant speed with variable load.
controller is presented in equations (1) and (2).
G(s) = Kp+(Ki/s) +Kds (1)

G(s) = (Kps + Ki =Kds2)/s (2)

Where, Kp=proportional gain constant, Ki = integral gain

constant, Kd= derivative gain constant and s = complex
frequency, respectively.
The time derivative output signal U(t) of the PID
controller for controlling the plant can be represented by the
product of time-varying error signal, e(t) and of the gain
constants Kp, Ki and Kd as shown in (3).

(3)

The four main features of the closed-loop control system

with step response are rising time, overshoot, steady-state Fig. 6. The speed settling time of the BLDC motor is under the control of
error, and settlement, which are the key factors to measure a the PID controller.
control system’s performance. Due to robustness and Torque adjustment output of BLDC in the PID control
outstanding performance, most closed-loop industrial system for a step load change. The graph shows that the
processes are used in the PID control system. The parameters electromagnetic torque has adjusted to maintain 2500 rpm
which are used for this design are shown in Table 3. speed after 50 ms.
The coordination of stator current for BLDC motor
TABLE III. PID CONTROLLER SYSTEM PARAMETER
system at step load change is shown in Figure 8. The graph
Method Kp Ki Kd also observed that the 3-phase stator currents adjustment
completed within 50 ms to adjust the electromagnetic torque
PID 100 0.5 500 of the motor to maintain the preset speed of 2500 rpm.

* Correspondent Author.

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 2022 IEEE 18th International Colloquium on Signal Processing & Applications (CSPA 2022), 12 May 2022, Selangor, Malaysia

Figure 9 shows the induced back EMF voltage at the

BLDC motor during the step load state.
The 3-phase induced back EMF voltage of the stator coils
became stable after 50 ms of the load change.
Figure 10 depicts the PID controller's output signal
voltage during a step load change on the BLDC motor. This
signal is used to control the switching logic to keep the motor
running at the preset speed of 2500 rpm. The figure clearly
shows that the PID controller output voltage adjustment
becomes stable after 50 ms. This period is an important
factor that creates the overall impact of the controller
performance.

V. CONCLUSION
Fig. 7. Electromagnetic torque adjustment under the PID control system for
a step load change. For a three-stage BLDC motor, a modified PID controller
was constructed and studied. It's worth noting that the
proposed PID controller has performed admirably in terms of
regulating the BLDC motor. Under step load variation, the
proposed PID controller was employed to investigate the
operating speed of a three-phase BLDC motor at 2500 rpm.
The results show that due to the step load variation, the
system may be brought back to its original stable state
condition in roughly 50 milliseconds. However, it takes
roughly 18 milliseconds to increase the speed from 10% to
80% of the pre-set speed, which is sufficient for most tasks.
Finally, the proposed PID controller is found to be suitable
for BLDC motor control.

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