Benha University

Benha Faculty of Engineering

Electrical Engineering Technology
Department

Sensorless Speed control of BLDC

motor Using Geno-Fuzzy Controller
Mahmoud Taha; Demonstrator

Outlines:

BLDC motor Overview

Sensorless Control of BLDC motor

Speed control of BLDC motor using

PI controller
Fuzzy logic controller
Geno - Fuzzy controller

Fuzzy logic controller

Genetic algorithm

Proposed work

References

Why a Brushless DC Motor ?

Many of the limitations of the classic permanent magnet

"brushed" DC motor are caused by the brushes pressing

against the rotating commutator creating friction
As the motor speed is increased, brushes may not remain

in contact with the rotating commutator

Sparks and electric noise may be created as the brushes

encounter flaws in the commutator surface

Brushes eventually wear out and require replacement,

and the commutator itself is subject to wear and

maintenance
Brushless DC motors avoid these problems with a
1

modified design, but require a more complex control

Brushless DC Motor
A brushless dc motor can be described as an

inverted brush dc motor with its magnet being the

rotor and its stationary windings forming the
stator.
Its a type of synchronous motor
magnetic fields generated by the stator and rotor
rotate at the same frequency
Has no brushes and commutators.
It requires external commutation
circuit to rotate the rotor.
Rotation of the rotor depends on
the accurate position with stator.
2

How Does it Works?

Three-phase brushless dc motors are operated by energizing

two of its three phase windings at a time depending on the

rotor position.
Halls Sensors sense the position of the coils
logic Circuit turns appropriate switches on and of
The voltage through the specific coils turns the motor
Other wise , sensorless Technique are used.

Advantages
High Reliability & Efficiency
Longer Life & Low maintenance
Elimination of Sparks from Commutator
Reduced Friction silent operation
High dynamic Response
Good speed control

Disadvantages
May be more expensive than "brushed" DC motors
More complex and expensive drive circuit than

"brushed" DC motors
Requires additional Sensors
4

Application of BLDC motor

We find an application in every segment of market as

appliances, industrial control, Automation and so on .

Categories of BLDC motor control:
Applications with Constant Loads
Variable speed important than accuracy ,
low cost controller, open loop controller as fans,
pumps and blowers

Applications with Varying Loads

Require high speed control accuracy ,good dynamic response
complex & high cost controller. closed loop controller as Home
appliance, EV and Robotic Arm control

Positioning Applications

Require good dynamic response of speed & Torque

complex & high cost controller. closed loop controller as CNC
machine

Control of Brushless DC Motors

In order to keep in synchronism we need to energize the coils at the

correct point in time.

Also for maximum torque per amp we need to align the stator magnetic

field at 90 to the rotor magnetic field i.e. vector control

Hence we need to identify the position of the rotor flux
Identifying the position of the rotor flux is not very difficult
In a BLDC machine this is usually achieved using Hall effect transducers.
Alternatively provided that the processor has enough bandwidth this can be done in a

sensor less manner.

T1
PWM
commutation
control
6

T4

VLink

T3

T6

T5

T2

Sensorless Control of BLDC Motor (Ebemf)

Direct Ebemf measurement is the most popular method

The motor is fed 2 phase ON , with 60 commutation periods, and

detection of the commutation instant is performed by sensing The backemf in the non fed phase.

The back-emf Ebemf waveform is directly related to the position of the rotor.
If we could detect the zero crossing of the back-emf waveform we could

deduce the position of the rotor

zero crossing
Bemf

Time

PWM
commutation
control

Ebemf

Voltage

Zero crossing
detector

Measurement

T1

T5

T4

VLink

T3

T6

T2

Sensorless Speed control of BLDC

Position
& speed

Speed Control
Loop

Back EMF
Detection

u
Controller

i*a , i*b ,
i*c
PWM
Referenc
commutation
e current
control
generator

ia , i b , i c
Three
Phase
VSI

S1-S6
Vdc
Current Control
Loop

control system response

Speed control done by improving speed response by
minimization of settling time, steady state error and
maximum overshoot.

Using PI controller
To achieve desired level of performance motor require suitable speed controller
Advantages of PI controller
simple structure
easy implementation
Dis advantages:
It require precise linear mathematical model
Its difficult where are some control:
Complexity non linear
Load disturbances
parametric variation

10

overshoot of 6.667%
settling time 0.05 sec

Using Fuzzy logic controller

In this controller the input is speed and the output is
voltage.The membership function is figured between error and
change in error. After that using pre defined rule the
controller produces signal this signal is called control variable.
fuzzy controller is
designed based on trialerror method and
simulation.
FLC is more effective in
BLDC motor drives.

11

settling time of 0.03 sec

zero steady state error

Using Genetic algorithm

The optimal design of FLC requires the
determination of a great deal of features and
parameters.
Parameters :
normalization parameters
Membership functions
Slide mode rule base
parameters

12

 In control applications, the fitness is usually

related to performance

13

Applying this method to BLDC motor

Applying this method to DC motor

14

Fuzzy logic controller

Introduction
The fuzzy logic, unlike conventional logic system, is

able to model inaccurate or imprecise models. The

fuzzy logic approach offers a simpler, quicker and more
reliable

solution

that

is

clear

advantages

over

conventional techniques.
Fuzzy logic is a way to make machines more intelligent

enabling them to reason in a fuzzy manner like humans.

Fuzzy logic, proposed by Lotfy Zadeh in 1965
Its totally different from other controllers, fuzzy logic's

principle is to think like an organic creature; human.

15

How does it works?

16

FUZZY LOGIC REPRESENTATION

Classical Set

Fuzzy Set

Slowest
[ 0.0 0.20 ]

Slow
Speed = 0

Slow
[ 0.10 0.50 ]

Fast
[ 0.40 0.90 ]

Fastest
Fast
Speed = 1
17

[ 0.75 1.00 ]

A fuzzy set defined by the function that maps

objects

in

domain

of

concern

to

their

membership value in the set. Such a function is

called membership function
The most common types are singleton, triangular,

trapezoidal,
and bell-shaped

18

Structure of Fuzzy logic

controller

19

Design procedure

Step 1:

Determination of state variables and control

variables
Step 2:
Selection of the inference method common
-Mamdani
-Sugeno
Step 3:
Selection of the fuzzification method
20

Design procedure
Step 4: Determination of the knowledge base
- Partition of variable space.
- Selection of the MF shapes
- Design of the rule base
Step 5: Selection of defuzzification strategy
Centroid or Mean-of-maximum or Weighted
average
Step 6: Test and tuning
Step 7: Construction of a lookup table
21

Advantages over conventional control techniques

Developing

developing

a fuzzy logic controller is cheaper than

model

based

or

other

controller

with

comparable performance.
Fuzzy logic controller are more robust than PID controllers

because they can cover a much wider range of operating

conditions.

Disadvantages of fuzzy system

It requires a lot of Rules

The

sophisticated design process is usually

implemented by an expert using the conventional
trial-and-error methods which consume more
time.

22

genetic algorithm
A

genetic algorithm is a search technique used in

computing to find true or approximate solutions to
optimization and search problems, Based on ideas from
Darwinian Evolution theory Survival of the fittest

Part of Evolutionary Algorithms

Basic concept - to simulate processes in

natural system necessary for evolution.

Provide efficient, effective techniques for

optimization
started with Nils Barricelli in 1954,
Developed by John Holland, University

of Michigan - 1970
Got popular in the late 1980s
23

 It is started with a set of randomly generated solutions

and recombine pairs of them at random to produce

ofspring.
Only the best ofspring and parents are kept to produce

the next generation then repeated to get optimal

solution.
Reproduction mechanisms have no knowledge of the

problem to be solved
Link between genetic algorithm and problem:
Encoding

Possible individuals encoding

24

Fitness function
Bit strings
(0101 ... 1100)
Real numbers
(43.2 -33.1 ... 0.0 89.2)
Lists of rules
(R1 R2 R3 ... R22 R23)
... any data structure ...

25

Working Principle of Genetic Algorithm

26

Genetic Algorithms: Case Study

A simple example will help us to understand how a GA

works. Let us find the maximum value of the function (15x

x2) where parameter x varies between 0 and 15. For
simplicity, we may assume that x takes only integer values.
Thus, chromosomes can be built with only four genes:
Integer
1
2
3
4
5

Binary code
0001
0010
0011
0100
0101

Integer
6
7
8
9
10

Binary code
0110
0111
1000
1001
1010

Integer
11
12
13
14
15

Binary code
1011
1100
1101
1110
1111

Suppose that the size of the chromosome population N is 6, the

crossover

probability pc equals 0.7, and the mutation probability pm

equals 0.001. The fitness function in our example is defined by f(x) = 15

27

x x2

The fitness function and chromosome locations

Chromosome
label

Chromosome
string

X1
X2
X3
X4
X5
X6
f(x)

1
0
0
1
0
1

1
1
0
1
1
0

00
00
01
10
11
01

Decoded
integer

Chromosome
fitness

Fitness
ratio, %

12
4
1
14
7
9

36
44
14
14
56
54

16.5
20.2
6.4
6.4
25.7
24.8

60

60

50

50

40

40

30

30

20

20

10

10

0
0

10

15

(a) Chromosome initial locations.

28

0
0

10

15

(b) Chromosome final locations.

C rossover
Generation i
X1i

1 1 0 0

f = 36

X2i

0 1 0 0

f = 44

X3i

0 0 0 1

f = 14

X4i

1 1 1 0

f = 14

X5i

0 1 1 1

f = 56

X6i

1 0 0 1

f = 54

X6i

1 0 00 1

0 1 00 00

X2i

X1i

0 11 00 00
1

0 11 11 11

X5i

X2i

0 1 0

0 1 1 1

X5i

Generation (i + 1)

29

X1i+1 1 0 0

f = 56

X2i+1 0 1 0

f = 50

X3i+1 1 0 1

f = 44

X4i+1 0 1 0

f = 44

X5i+1 0 1 1

f = 54

X6i+1 0 1 1

f = 56

Mutation
X6'i

1 0 0 0

X2'i

0 1 0 1
0

X1'i

0
1

X5'i

0 1 0
1 0
1

X2i

0 1

X5i

0 1 1 1

1 1

0 1

X1"i

X2"i

Advantages :
A GA has a number of advantages.
Concept is easy to understand
Bad proposals do not effect the end solution negatively as they are

simply discarded.
The inductive nature of the GA means that it doesn't have to know any
rules of the problem - it works by its own internal rules.
This is very useful for loosely defined problems .
Flexible building blocks for hybrid applications
They can be used to solve difficult problems quickly and

reliably.

Dis advantages :
A practical disadvantage of the genetic algorithm involves longer running
times on the computer. Fortunately, this disadvantage continues to be
minimized by the ever-increasing processing speeds of today's
computers.
30

Proposed work
A Fuzzy Logic Controller (FLC) for speed control of BLDCM has been
proposed

Using

genetic

algorithm

(GA)

to

Auto

tune

FLC

parameters and obtain optimal design in a short time without the

need of an expert assistance
The following stages will be followed to acheive our goal: Survey the existing literature; this will include modeling and

control of BLDC motor, control techniques used to control BLDC

motors, fuzzy systems for controlling BLDC motors and the
application of Genetic Algorithm in optimization .
Theory and development; this will include the study of MATLAB

as a powerful simulation toolbox. The setup will be prepared for

simulating Fuzzy logic controller based on Genetic Algorithm
31

References
I.Rojas, J.J.Merelo, H.Pomares, A.Prieto , Genetic Algorithms for Optimum Designing of

Fuzzy Controllers.
Goldberg, D. (1989) , Genetic algorithms in search, optimization and machine

learning. Addison-Wesley.
S. Rajasekaran , Neural Networks, Fuzzy Logic, and Genetic Algorithms.
Jan Jantzen , Tutorial On Fuzzy Logic.
Kevin M. Passino and Stephen Yurkovich , Fuzzy Control

Ahmad M. Ibrahim,FUZZY LOGIC for Embedded Systems Applications.

S.Rambabu,

MODELING AND CONTROL OF A BRUSHLESS DC MOTOR, Department of

Electrical Engineering National Institute of Technology Rourkela 2007.

Rahul Malhotra , Yaduvir Singh and Narinder Singh , Design of Embedded Hybrid
Fuzzy-GA Control Strategy for Speed Control of DC Motor, International Journal of Computer
Applications (0975 8887) Volume 6 No.5, September 2010.

Mehmet Cunkas, Omer Aydodu , Realization of fuzzy logic controlled brushless dc

motor drives using matlab/simulink. Mathematical and Computational Applications, Vol. 15,
No. 2, pp. 218-229, 2010.

THANK YOU