SPEED CONTROL OF PERMANENT MAGNET

BRUSHLESS DC MOTOR
By
N.SAKTHI SARAVANAN
(Reg. No: 16103020)

A PROJECT REPORT
Submitted to the Department of
ELECTRICAL AND ELECTRONICS ENGINEERING
in the FACULTY OF ENGINEERING & TECHNOLOGY
In partial fulfillment of the requirements
for the award of the degree
of
MASTER OF TECHNOLOGY
IN
POWER ELECTRONICS AND DRIVES

S.R.M. ENGINEERING COLLEGE

S.R.M. INSTITUTE OF SCIENCE AND TECHNOLOGY
Deemed University

June, 2005

BONAFIDE CERTIFICATE
Certified that this project report titled SPEED CONTROL OF PERMANENT
MAGNET BRUSHLESS DC MOTOR is the bonafide work of Mr.N.SAKTHI
SARAVANAN (Reg.No.: 16103020) who carried out the research under my supervision.
Certified further, that to the best of my knowledge the work reported herein does not
form part of any other project report or dissertation on the basis of which a degree or
award was conferred on an earlier occasion on this or any other candidate.

PLACE: Kattankulathur
DATE:
Signature of the Guide

Signature of the HOD

Mr.S.Venkatesh M.Tech

Dr.G.Sambandan Ph.D.

Signature of the Internal Examiner

Signature of the External Examiner

ABSTRACT
Permanent magnet machines are used in applications of vital importance such as
aerospace industry, tool drives, actuators and electric vehicle propulsion system. Hence,
the necessity for precise control with quick response time is evident and obvious. Further
these applications warrant the weight-density to be low and torque speed characteristics
to be good. Also the inherent disadvantages of the conventional dc machines which
necessitate the use of mechanical brushes and commutator problems has obviated these
motors applied to such high performance applications.

The performance of the PMBLDC motor with respect to the vital motor
parameters as a servo system is evaluated. The modeling of the PMBLDC motor has been
carried out in this project with the reference frame as the rotor. The PMBLDC drive
system which involves inherently an inverter controller arrangement which controls the
duty cycle of the chopper using PWM technique has been taken up for implementation.
The disadvantages of large distortion of the current waves is thus obviated using PWM
technique in this project with the hysteresis band current controller taken up for the said
purpose. The current is controlled within a narrow band of excursion from its allowable
or preset deviation of current. Hence, hysteresis current controller is chosen for the
current control of PMBLDC motor.
The functioning of the servomechanism of servo drive which accepts feedback
from a motor or actuator and process this feedback to improve control of the servo
system has been implemented with a PID controller. To eliminate the modeling the high
degree of non-linearity the fuzzy logic approach for the design of controller has been
taken up subsequently.

ACKNOWLEDGEMENT

I would like to express my sincere thanks to Prof.R.VENKATRAMANI,

Principal, and Prof.R.MUTHUSUBRAMANIAN, Vice principal for bringing out this
project successfully.
I wish to express my deep sense of gratitude to Dr.G.SAMBANDAN, Head of
the department, Department of Electrical and Electronics Engineering for his permission
and encouragement accorded to carry out this project.

I wish to give special thanks to Mr.S.VENKATESH, Lecturer, Department of

Electrical and Electronics for his valuable guidance and continuous encouragement
during the course of my work.
I am also grateful to all teaching and non-teaching staff members of the
Department of Electrical and Electronics Engineering for their help during the course of
project work.
I wish to thank the management of S.R.M Institute of Science and Technology
(Deemed University) for their continuous support in my work.
Finally, my acknowledgements are also due to my parents and friends who have
helped me in various aspects to bring this project to present shape.
Last but not the least I thank the GOD ALMIGHTY for showing his blessings.
TABLE OF CONTENTS
CHAPTER

TITLE

NO.

PAGE
NO.

ABSTRACT

iii

LIST OF TABLES

ix

LIST OF FIGURES

LIST OF SYMBOLS AND ABBREVIATIONS

xi

GENERAL OVERVIEW OF THE PROJECT

1.1

Introduction

1.2

Scope of the Project

1.3

Contributions

1.4

Literature Survey

1.5

Organization of the Thesis

PERMANENT MAGNET BRUSHLESS DC MOTOR

2.1

Introduction

2.2

Definition of PMBLDC Motor

2.2.1

Components of PMBLDC Motor

2.2.2

Types of PMBLDC Motor

2.2.3
2.3

Schematic Block Diagram of Three-Phase SixPulse PMBLDC Motor

Controller for PMBLDC Motor

2.3.1

Operating Principles of PMBLDC Motor

2.3.2

Types of PMBLDC Motor

2.3.3

Variants of PMBLDC Motors

10

2.3.4

Electrical System

11

2.3.5

Mechanical System

11

2.4

Model of PMBLDC Motor

12

2.5

Summary

16

PULSE WIDTH MODULATION TECHNIQUES AND

CONTROLLERS

17

3.1

Introduction

17

3.2

PWM Classification

17

3.3

Hysteresis-Band Current Control PWM

18

3.4

Summary and Conclusions

20

PID AND FUZZY CONTROLLER

21

4.1

Introduction

21

4.2

PID Controllers

22

4.2.1

Ideal PID

22

4.2.2

Series (Integrating) PID

23

4.2.3

Parallel PID

24

4.2.4

Controller Tuning

24

4.2.5

Servo Control using PID Controller

25

4.3

Conventional Controller

27

4.4

Fuzzy Controllers

28

4.4.1

Fuzzy System

29

4.4.2

Fuzzy Control

30

4.5

Fuzzy Controller

31

4.5.1

32

4.5.2
4.6
5

Fuzzy Rules and Choice of Membership

Functions

Summary

33
34

IMPLEMENTATION OF SPEED CONTROL IN MATLAB

35

5.1

Introduction

35

5.2

Implementation of Motor Model

35

5.3

The PMBLDC Motor Speed Control System

36

5.4

Summary

39

OBSERVATION AND ANALYSIS OF SPEED CONTROL

6.1

Fuzzy Logic Controller Design

Verification of Implement Equivalent d-q Model of

PMBLDC Motor

40
40

6.2

Firing Pulse Characteristics

42

6.3

Hysteresis for Various Band Speed and Torque

43

6.4

Summary

43

SUMMARY AND CONCLUSIONS

44

8
9

RECOMMENDATIONS

FOR

REQUIREMENTS

HARDWARE

45

FUTURE SCOPE OF THE WORK

46

APPENDIX 1

47

APPENDIX 2

48

APPENDIX 3

49

REFERENCES

58

LIST OF TABLES
TABLE

PAGE

NO.

NO.

4.1

Fuzzy Logic Rules for Fuzzy Controller

34

LIST OF FIGURES
FIGURE

PAGE

NO.

NO.

2.1

Components of PMBL DC Motor

2.2

Generic Schematic Diagram of Three-Phase Six-Pulse Motor

2.3

Model of 3-Phase Brushless DC Motor

15

3.1

Control Block Diagram for Hysteresis-Band PWM

19

3.2

Principle of Hysteresis Band Current Control

19

4.1

4.2

Underdamped (LHS) and Overdamped (RHS) System

Response to a Unit Change in Set Point
Block Diagram of Conventional Controller for PMBLDC
Motor

25
28

4.3

Input / Output Mapping Problem

29

4.4

Block Diagram of Fuzzy Controller for PMBLDC Motor

31

4.5

Fuzzy Controller

33

4.6

Input Membership Functions

33

4.7

Output Membership Functions

34

5.1

Implemented Model of 3-Phase Brushless DC Motor

36

5.2

Implemented Overall Diagram of PMBLDC System

37

5.3

Diagram of 2 to 3 Axis Current Transformation Subsystem

37

5.4

Diagram of Current Regulator Subsystem

38

5.5

Diagram of 3 to 2 Axis Voltage Transformation Subsystem

38

6.1

Free Acceleration Characteristics

40

6.2

Dynamic Characteristics TL=0.067 N-m

41

6.3

Firing Pulse Characteristics TL=0.067 N-m

42

LIST OF SYMBOLS AND ABBREVIATIONS

ids

Direct Component of the Stator Current (Amps)

iqs

Quadrature Component of the Stator Current (Amps)

Rotor Speed (Rad/sec)

rs

Stator Resistance ()

Lss

Self-Inductance (H)

Lls

Leakge-Indutance (H)

Lms

Mutual (Magnetizing)-Inductance (H)

Amplitude of the Flux Linkages Established by the Permanent Magnet

as Viewed from Stator Windings (Wb.Turn)

Inertia Constant of the Machine (Kg-m2)

Firing Angle (Degree)

Number of Poles

Derivative Constant

Time Constant

Vds

Direct Component of the Stator Voltage (Volts)

Vqs

Quadrature Component of the Stator Voltage (Volts)

Te

Electrical Torque (N-m)

TL

Load Torque (N-m)

Bm

Damping Constant (N-m/Rad/sec)

d-q Axis
PID
PMBLDC

Direct-Quadrature Axis
Proportional Integral Differential Controller
Permanent Magnet Brushless DC Motor

CEMF

Counter EMF (Volts)

PWM

Pulse Width Modulation

NB

Negative Big

NM

Negative Medium

NS

Negative Small

ZE

Zero

PS

Positive Small

PM

Positive Medium

PB

Positive Big

CHAPTER 1
GENERAL OVERVIEW OF THE PROJECT

1.1Introduction
Permanent magnet machines are applicable in key applications of critical
importance, such as aerospace industry, tool drives, actuators and electric vehicle
propulsion system since these need to cater to servo applications. Hence, the necessity for
precise control with quick response time is evident and obvious. Further these
applications warrant the weight-density to be low and torque speed characteristics to be
good. Also the inherent disadvantages of the conventional dc machines which necessitate
the use of mechanical brushes and commutator problems has obviated these motors
applied to such high performance applications.

In this project PMBLDC motor, which can cater to large torque for high
acceleration and deceleration rates is evaluated for its performance with respect to the
parameters of the motor which need to include also the effects of reluctance variations
and other effects of magnetic saturation. The modeling of the PMBLDC motor has been
carried out in this project with the reference frame as the rotor. The PMBLDC drive
system which involves inherently an inverter controller arrangement which controls the
duty cycle of the chopper using PWM technique has been taken up for implementation.
The disadvantages of large distortion of the current waves is thus obviated using PWM
technique in this project with the hysteresis band current controller taken up for the said
purpose. The current is controlled within a narrow band of excursion from its allowable
or preset deviation of current. Hence, hysteresis current controller is chosen for the
current control of PMBLDC motor.
The functioning of the servomechanism of servo drive which accepts feedback
from a motor or actuator and process this feedback to improve control of the servo
system has been implemented with a PID controller. To eliminate the modeling the high
degree of non-linearity the fuzzy logic approach for the design of controller has been
taken up subsequently.

1.2 Scope of the Project

This thesis is limited to the speed control aspects of PMBLDC motor with
specified rating and is not applicable for all motor ratings. This project is limited to the
implementation of the d-q axis model of PMBLDC motor and its speed control using PID
controller and not other variations (PI & P controller). It is also envisaged to carry out
alternate speed instead of PID with fuzzy logic technique only.

1.3 Contributions

The firing pulse characteristics and the range based on various torque values and
the requirement of the hysteresis band for the optimum operation during speed control
have been ascertained for the purpose of recommendation for hardware requirements.

1.4 Literature Survey

Kusko. A, Peeran. S.M, (1988) Definition Of The Brushless Dc Motor, gives

the evolution of the definitions of PMBLDC motor over various stages and the
fundamentals on the controller aspects which need to be viewed more as a
PMBLDC system than as a PMBLDC motor.

Krause. P.C. And Wasynczuk. O, (1989) Electromechanical Motion And

Devices, New York: Mc. Graw Hill, has provided in detail the theory and
concepts of the mathematical aspects of the PMBLDC motor with various factors
to be considered in chapter 7.

Bose. B.K, (1986) Power Electronics And Ac Drives, Englewood Cliffs, Nj:
Prentice-Hall, has provided in details on the types of controller and in specific the
hysterisis band control for the implementation of speed control in PMBLDC
motor.

George Stephanopoulous, (1998) Chemical Process Control, New Delhi:

Prentice-Hall, has provided details on PID.

Awadallah. M.A, Morocs. M.M, (December 2002) Adaptive Fuzzy Based Stator
Winding Fault Diagnosis Of PMBLDC Motor Drive By Monitoring Supply
Current, IEEE Transactions On Power Engineering Review, December 2002,
provides details on the implementation of speed control of fuzzy logic system.

1.5 Organization of the Thesis

CHAPTER-1 deals with the overview and the objectives of the thesis, proposed
methods of speed control and contributions.

CHAPTER-2 furnishes a brief account of PMBLDC motor definitions, anomalies

existing in defining PMBLDC motor and the theory of d-q axis modeling.
CHAPTER-3 deals with the PWM technique used in general and the hysterisis
band controller proposed in this project in detail.
CHAPTER-4 deals with the PID controller in detail with an alternative approach
as fuzzy logic system.
CHAPTER-5 deals with the implementation of the PMBLDC system and its
subsystem models using MATLAB 6.5.
CHAPTER-6 deals with the various observations and analysis including
verification of the effectiveness of the model developed.
CHAPTER-7 & 8 deals with the conclusions and inferences of the thesis with
possible recommendations.

CHAPTER 2
PERMANENT MAGNET BRUSHLESS DC MOTOR

2.1 Introduction
The need for permanent magnet brushless dc motor and its application in specific
areas has been elucidated in this chapter. Also the various important characteristics,
constructional aspects, parameters etc has been compared and the merits and its
demerits of the proposed motor for drive application has been explained. This chapter
also explains the need for representing the motor in the d-q axis model with
appropriate mathematical equations in detail.
In many adjustable speed drives the demand is for precise and continuous control
of speed with long-term stability, good transient performance and high efficiency. The
dc motor has satisfied some of these requirements, but due to the presence of commutator
and brushes dc motors have a number of disadvantages as compared to ac motors.

However permanent magnet motors which have permanent magnet on the rotor have the
following advantages over induction motor.

The rare earth and neodymium boron permanent magnet has low inertia when
compared with an Induction motor because of the absence of rotor cage; this
makes faster response for a given torque. In other words, the torque to inertia
ratio of these permanent magnet machines is higher.

The permanent magnet machine has a higher efficiency than an induction

machine. This is primarily because there are negligible rotor losses in permanent
magnet machines.

The induction motor requires a source of magnetizing current for excitation. The
permanent magnet machine already has the excitation in the form of the rotor
magnet.

The permanent magnet machine is smaller in size than an induction motor of the
same capacity. Hence it is advantageous to use permanent magnet machines,
especially where space is a serious limitation. In addition, the permanent magnet
machine weight is less. In other words, the power density of permanent magnet
machine is higher. Because of above mentioned advantages, enhanced the
brushless dc motor for adjustable speed applications.
There are two types of permanent magnet motors. They are PMSM (Permanent

Magnet Synchronous Motor) and PMBLDC (Permanent Magnet Brushless DC Motor).

Depending upon the application a choice is made between a PMSM and PMBLDC.
An electric drive system is considered high performance when rotor speed can
be made to follow preselected trajectory.

This is essential in applications such as

robotics, guided manipulation and dynamic actuation where precise rotor movement must
be achieved. Several types of electric motors have been proposed for HPD (High
Performance Drive) applications. Apart from above mentioned advantages, advances in

high-energy permanent magnet materials and power electronics have widely enhanced
the brushless dc motor for these applications.
For this brushless dc motor conventional controllers require accurate mathematical
models describing the dynamics of the system under control. Even if a model can be
obtained for the system under control one of the main difficulties with conventional
tracking controllers for electric drives is their inability to capture unknown load
characteristics over a widely ranging operating point. This makes tuning of
respective parameters difficult.
2.2 Definition of PMBLDC Motor
There have been initial difficulties in defining PMBLDC motor due to only a single
standard existing as a reference i.e., the IEEE standard dictionary of electrical terms,
ANSI / IEEE std 100-1984 only defines brushless (rotating machinery).
Since, the available formal definition is inadequate to distinguish this particular type
of motor over the other types, the NEMA (National Electrical Manufacturers
Association) Standard in Motion / Position Control Motors and Controls, MG71987 defines A Brushless DC Motor as a rotating self-synchronous machine with a
permanent magnet rotor and with known rotor shaft positions for electronic
commutation. A motor meets this definition whether the drive electronics are integral
with the motor or separate from it.
Later due to further anomalies and practical difficulties in the interpretation few other
authors have come with up with different definitions in various IEEE Journals in the
year 1988. Two such definitions are given as below,
1. Motor with a permanent magnet rotor and wound stator, which is supplied
from a dc power source through transistor switches controlled by a shaft
position sensor.
2. A motor having stator (armature) windings and a permanent magnet (PM) or
salient-pole soft-iron rotor [New proposed definition].
Comment:

The stator winding can be placed on a ferromagnetic or an air core.

The salient-pole soft-iron rotor encompasses stepper motors.

The permanent magnet motor can consist of single or multiple pole

patterns.

2.2.1 Components of PMBLDC Motor

Components of PMBLDC motor are elucidated as shown in figure 2.1 as follows.

Fig 2.1 Components of PMBLDC Motor

1. Sensor Unit

Stator
Stator windings
Permanent magnet rotor or salient pole soft iron rotor

2. Controllers

Switches
Driver

3. Shaft Position Sensor



Sensor units
Sensor armature

4. Regulator

2.2.2 Types of PMBLDC Motor

Types of PMBLDC motor are classified as shown below.
1)
2)
3)
4)
5)
6)

One-phase one-pulse motor

One-phase tow-pulse motor
Tow-phase one-pulse motor
Three-phase three-pulse motor
Four-phase four-pulse motor
Three-phase six-pulse motor

2.2.3 Schematic Block Diagram of Three-Phase Six-Pulse PMBLDC Motor

180

360

Degree

Fig2.2 Generic Schematic Diagram of Three-Phase Six-Pulse PMBLDC Motor

As shown in fig 2.2, the stator of this motor is wound with three phase windings
displaced by 120 degree, which can be connected in delta or in vice versa. The windings
are energized with six pulses by six power switches in cyclic sequence.
2.3 Controller for PMBLDC Motor
A brushless dc machine is basically a synchronous machine with a permanent magnet
in the rotor circuit. The armature windings, which are mounted on the stator, are
electronically switched according to the position of the rotor. It becomes brushless dc
motor not because it looks like a dc motor but because its operating characteristics
can be made to resemble that of dc shunt motor.

2.3.1 Operating Principles of PMBLDC Motor

In self-control of PMBLDC motor as the rotor speed changes, the armature supply
frequency is also changed proportionally so the armature field always moves at the
same as the rotor. This ensures that the armature and rotor fields move in
synchronism for all operating points. The accurate tracking of speed by frequency is
realized with the help of a rotor position sensor. The switches of the inverter, feeding
the motor are fired based on the rotor position. The frequency of the voltage induced
in the armature is proportional to the speed.
2.3.2 Types of PMBLDC Motor

Exterior rotor brushless dc motor,

Interior rotor brushless dc motor.

The exterior rotor type has fixed armature winding on the stator, and rotating magnets
on the outside. This type of common hard disk drives in computers. The rotating

magnet causing provides a conventional cylindrical form on which to mount the

platters, and the large diameter helps to increase the inertia, which in turn helps to
maintain constant rotational speed.
The interior rotor type has the magnets on the rotating rotor. Brushes and commutator
are not necessary because the windings are in the stator and do not rotate. The small
rotor diameter reduces the inertia compared to that of the exterior rotor motor, and
this configuration is common in servo-system. The stator is similar to that of an ac
induction motor. For low speed operation it is often sufficient to bond the magnets to
the surface of the rotor hub.
2.3.3 Variants of PMBLDC Motors

Axial-gap disc designs

Inside rotor design

Outside rotor design

Slot-less design

Brushless dc motors are similar in construction to permanent magnet synchronous

motors, which has a poly-phsase winding on the stator and permanent magnets on the
rotor. Pulses generated by the rotor position sensor control transistors of the inverter
that feeds stator winding. This ensures that rotor revolves at angular speed which is
equal to the average speed of the stator field. Thus, drive operation is free from the
problems of pullout and hunting.
The drive functions are similar to a dc motor. Like a dc motor it is fed from a dc
source, stator and rotor fields remain stationary with respect to each other at all
speeds, and speed torque characteristics are similar and speed can be controlled by the
control of dc input voltage. Because of these similarities and owing to the fact that it
dose not have brushes, the drive is known as brushless dc motor. The permanent
magnet synchronous machine block operates in either generating or motoring mode.
The sign of the mechanical torque dictates the mode of operation (positive for
motoring, negative for generating). The electrical and mechanical parts of the
machine are each represented by a second-order state-space model. The model
assumes that the flux established by the permanent magnets in the stator is sinusoidal,
which implies that the electromotive forces are sinusoidal. The block implements the
following expressed in the rotor reference frame (dq frame).

2.3.4 Electrical System

did / dt = iqrLq / Ld + Vd / Ld idr / Ld

(2.1)

diq / dt = Vq / Lq iqr / Lq - r / Lq - idrLd / Lq

(2.2)

Te = j d / dt + TL + DW

(2.3)

Where all quantities in the rotor reference frame, referred to the stator.
Ld, Lq
r

q and d axis inductances

resistance of the stator winding s

id, iq

d and q axis current

Vd, Vq

d and q axis voltages

r angular velocity of the rotor

amplitude of the flux induced by the permanent magnets of the rotor in the
stator phases

Te

electromagnetic torque

2.3.5 Mechanical System

dr / dt = (Te - Fr - Tm) / J

(2.4)

d / dt = r

(2.5)

Where
J

combined inertia of rotor and load

F combined viscous friction of rotor and load

rotor angular position

Tm shaft mechanical torque

2.4 Model of PMBLDC Motor

The model of the brushless machine is based on the following assumptions.

All electrical quantities are referred to direct and quadrature reference

frames mounted on the rotor.

The inverter is a balanced three-phase voltage source.

The inverter employs a 180-degree six-step switching.

The fundamental frequency has a dominant effect on system dynamics.

The air gap is uniform.

d
=
dt

(2.6)

d 3p
D
1
=
iq
TL
dt
4J
J
J

(2.7)

di q
dt

1
i q i d + Vq
L
L
L

di d
r
1
id +
Vd
= iq
dt
L
L

(2.8)

(2.9)

Vq =

2V
cos

(2.10)

Vd =

2V
sin

(2.11)

Where
id

direct component of the stator current

iq

quadrature component of the stator current

rotor speed

rotor angle

stator resistance

self-inductance

amplitude of the flux linkages established by the permanent magnet as

viewed from stator windings

D

damping factor of the machine

inertia constant of the machine

number of poles

motor voltage

The angle is defined by

= v(0) + r(0)

(2.12)

Where v (0) is the initial phase angle of stator voltage, r(0) is the initial
rotor position with respect to the stator axis.
The load torque is assumed to be given by
TL (t) = 2(t)

(2.13)

Where is constant. The functional form of the load torque is set up so that the
direction of the load torque always opposes the direction of motion. The motivation
for choosing this particular function is that it is a common characteristic for most
propeller-drives like fan-type load. Taking Laplace transform from equation 2.6 to
2.11 we get,

1
3p
)*(
i q (s) TL (s))
sJ + D
4

(2.14)

1/ r
i q (s) = (
) * (Vq (s) (s) r(s)i d (s))
1 + s

(2.15)

1/ r
i d (s) = (
) * (Vq (s) + r(s)i q (s))
1 + s

(2.16)

(s) = (

Using equations 2.14 to 2.16 model of 3-phase brushless dc motor is obtained as

shown in Fig. 2.3

Vq

(1/r)

iq

(s+1)

r
Vd

(1/r)
(s+1)

id

3p
4

TL

1
(Js+D)

Fig. 2.3 Model of 3-Phase Brushless DC Motor

2.5 Summary

From the comparisons made in chapter 2, section 2.1 it is evident that the
PMBLDC motor is most appropriate for critical applications such as aerospace industry,
tool drives, actuators and electric vehicle propulsion system, etc. It is hence proposed to
take up the speed control of this motor due to the criticality of the application involved
that will be taken up subsequently.
CHAPTER 3
PULSE WIDTH MODULATION TECHNIQUES AND CONTROLLERS
3.1 Introduction
The three phase, six step inverter discussed before has several advantages and
limitations. The inverter control is simple and the switching loss is low because there are
only six switching per cycle of fundamental frequency. Unfortunately, the lower order
harmonics of the six-step voltage will cause large distortions of the current wave unless
filtered by bulky and uneconomical low-pass filters. Besides, the voltage control by the
line-side rectifier has the usual disadvantages. PWM principle involves an inverter
contain electronic switches, to control the output voltage as well as optimize the
harmonics by performing the multiple switching within the inverter with a constant dc
input voltage Vd.
The fundamental voltage has the maximum amplitude (4vd/) at square wave, the
magnitude can be reduced. If the notch widths are increased, the fundamental voltage will
be reduced.

3.2 PWM Classification

There are many possible PWM techniques proposed. The classification of PWM
techniques can be given as follows:
1. Sinusoidal PWM (SPWM)
2. Selected harmonic elimination(SHE) PWM
3. Minimum ripple current
4. Space-vector PWM(SVM)
5. Random PWM
6. Hysteresis band current control PWM
7. Sinusoidal PWM with instantaneous current control
8. Delta modulation
9. Sigma-delta modulation
Often, PWM techniques are classified in the basis of voltage or current control, feed
forward or feedback methods, carrier or non-carrier-based control, etc.

3.3 Hysteresis-Band Current Control PWM

Hysteresis-band PWM is basically an instantaneous feedback current control
method of PWM where the actual current continually tracks the command current within
a hysteresis band. The control circuit generates the sine reference current wave of desired
magnitude and frequency, and it is compared with the actual phase current wave. As the
current exceeds a prescribed hysteresis band, the upper switch in the half-bridge is turned
off and the lower switch is turned on. As a result, the output voltage transitions from
+0.5Vd to 0.5Vd, and the current starts to decay. As the current crosses the lower band
limit, the lower switch is turned off and the upper switch is turned on. A lock-out time
(td) is provided at each transition to prevent a shoot-through fault. The actual current

wave is thus forced to track the sine reference wave within the hysteresis band by backand-forth (or bang-bang) switching of the upper and lower switches. The inverter then
essentially becomes a current source with peak-to-peak current ripple, which is controlled
within the hysteresis band irrespective of Vd fluctuation. When the upper switch is
closed, the positive slope of the current is given as
di/dt = (0.5Vd-Vcmsinet)/L

+V
i*

Gate Pulse To

Switch

-V
i
R1

R2

+V

+HB

-HB

-V

Fig 3 1 Control Block Diagram for Hysteresis-Band

Sine Reference

+0.5Vd
t

0
-0.5Vd

PWM V l

Where 0.5Vd is the applied voltage, Vcmsinet = instantaneous value of the

opposing load CEMF, and L = effective load inductance. The corresponding equation
when the lower switch is closed is given as
di/dt = -(0.5Vd-Vcmsinet)/L
the peak-to-peak current ripple and switching frequency are related to the width of the
hysteresis band. For example, a smaller band will increase switching frequency and
lower the ripple hence an optimum band.
3.4 Summary and Conclusions
The hysteresis-band PWM has been very popular because of its simple
implementation, fast transient response, direct limiting of device peak current and
practical insensitivity of dc link voltage ripple that permits a lower filter capacitor.

CHAPTER 4
PID AND FUZZY CONTROLLER

4.1 Introduction
The control of electrical motors used in high-performance servo drives and robots,
control concepts to achieve high dynamic performance. PID controllers are extensively
used in servo control system. The performance of PID controllers is sensitive to system
parameter variations. Servomotors are used in many automatic systems, including drives
for printers, tape recorders, and robotic manipulators. The development of digital
controllers becomes more popular because of their superiority over analog controllers.
One obvious reason is that the digital controllers can be used to implement intelligent

control algorithm to cope with varying environments as a result of load disturbances,

process nonlinearities, and changes in plant parameters.
Servomotors are usually controlled by proportional-integral-derivative algorithms.
These algorithms are effective enough if the speed and accuracy requirements of the
control system are not critical. The usual way to optimize the control action is to tune
the PID coefficients, but this cannot cope with varying control environment or system
nonlinearity.

Due to these problems, it is appropriate that incorporating human intelligence into

automatic control system would be a more efficient solution, leading to the development
of fuzzy control algorithm. The fuzzy algorithm is based on intuition and experience, and
can be regarded as set of heuristic decision rules or rules of thumb. Such
nonmathematical control algorithms can be implemented easily. They are straightforward
and generally do not involve any computational problems.

4.2 PID Controllers

The PID algorithm is the most popular feedback controller used within the
process industries. It is a robust easily understood that can provide excellent control
performance despite the varied dynamic characteristics of process plant.

The PID algorithm consist the basic modes, they are

1. Proportional mode,
2. Integral mode,
3. Derivative mode.

When utilizing this algorithm it is necessary to decide which modes are to be used
(P, I, D) and then specify the parameters for each mode used. Generally, three basic
algorithms are used P, PI, and PID.
Not all manufactures produce PIDs that confirm to the ideal textbook structure.
So before commencing tuning it is important to know the configuration of the PID
algorithm! The majority of text-book tuning rules are only valid for the ideal
architecture. If the algorithm is different then the controller parameters suggested by a
tuning methodology will have to be altered.

4.2.1 Ideal PID

The mathematical representation of this algorithm is:

Mv (s)

Kc

E(s)

1 + 1 + TD(s)
Ti (s)

One disadvantages of this ideal text-book configuration is that a sudden change

in setpoint will cause the derivative term to become very large and thus provide a
derivative kick to the final control element-this is undesirable.

An alternative implementation is

Mv (s)

Kc

1+ 1
Ti (s)

e (s) + TD(s)

The derivative mode acts on the measurement and not the error. After a change in
setpoint the output will move slowly avoiding derivative kick after setpoint changes.
This is therefore a standard features of most commercial controllers.

4.2.2 Series (Integrating) PID

The mathematical representation of this algorithm is:
Mv (s)

Kc

E(s)

1+ 1

TD (s)

Ti (s)

As with the ideal implementation the series mode can include either derivative on
the error or derivative on the measurement. In which case,

the mathematical

representation is,
Mv (s)

E(s)

Kc

1+ 1

where e(s)= SP-TD (s)

Ti (s)

4.2.3 Parallel PID

The mathematical description is,
Mv (s)
E(s)

Kc e (s) +

e (s) + TD e (s)

Ti (s)

The proportional gain only acts on the error, whereas with the ideal algorithm it
acts on the integral and derivative modes as well.

4.2.4 Controller Tuning

Controller tuning involves the selection of the best values of Kc, Ti and TD (if a
PID algorithm is being used). This is often a subjective procedure and is certainly process
dependent. A number of methods have been proposed in the literature over 50 years.
However, recent surveys indicate,

30% of installed controllers operate in manual,

30% of loops increase variability,

23% of loops use default setting,

30% of loops have equipment problems.

A possible explanation for this is lack of understanding of process dynamics, lack

of understanding of the PID algorithm or lack of knowledge regarding effective turning
procedures. This section of the notes concentrates on PID tuning procedures. The
suggestion being that if a PID can be properly tuned there is much scope to improve the
operational performance of chemical process plat.
When tuning a PID algorithm, generally the aim is to match some preconceived
ideal response profile for the closed loop system. The following response profiles are
typical.

4.2.5 Servo Control using PID Controller

For a unit step change in setpoint (0-1) the two response profiles shown if fig 4.1
could be obtained (depending upon the process dynamics and controller settings),

Terms used to describe underdamped response characteristics are,

Time (minutes)

Time (minutes)

Fig 4.1 Underdamped (LHS) and Overdamped (RHS) System Response

to a Unit Change in Set point

Overshoot: This is the magnitude by which the controlled variable

swings past the point. 5 to 10% overshoot is normally acceptable for
most loops.

Rise Time: The time it takes for the process output to achieve the new
desired value. One-third the dominant process time constant would be
typical.

Decay Time: This is the ratio of the maximum amplitude of successive

oscillations.

Setting Time: The time it takes for the process output to die to between,
say 5% of set point.

These characteristics are often used as objectives during tuning exercise.

The tuning rules are valid for the ideal PID control structure and any predication
of control law settings should be adjusted if an alternative PID implementation is used.
The tuning rules are only valid for self-regulation processes (i.e. open loop stable process
such as those that may be described by 1st order plus dead-time description). Luckily
most process system are self-regulation the exception to the rule being level systems.

Despite a lot of research and the huge number of different solutions proposed,
most industrial control systems are still based on conventional PID regulation. Different
sources estimate the share taken by PID controllers at between 90 and 99%. Some of the
reasons for this situation may be given as follows.

PID controllers are robust and simple design.

There exists a clear relationship between PID and system response

parameters. As a PID controller has only three parameters, plant operates
have a deep knowledge about the influence of these parameters and the
specified response characteristics on each other.

Many PID tuning techniques have been elaborated during recent decades,
which facilitates the operators task.

Because of its flexibility, PID control could benefit from the advances in
technology. Most of the classical industrial controllers have been provided
with special procedures to automate the adjustment of their parameters
(tuning and self-tuning).

4.3 Conventional Controller

In this error between the actual speed and reference speed is operated upon by the
conventional PID controller to generate iqref. In the constant air gab flux mode idref = 0.
This goes through Parks transformation to generate A, B and C phase stator reference
currents. Rotor position feedback is needed in order to generate these currents. The
current controller attempts to force the actual motor currents to equal the commanded
values at all times. Current feedback is required in order to generate these current. The
current controller attempts to force the actual motor currents to equal the commanded
values at all times. Current feedback is required in order for the hysteresis current
controller to achieve this. Current control is implemented by appropriate firing of power
devices T1 to T6. For speed control system speed feedback is also needed. Both position
and speed feedback can be obtained from a resolver / signal processor combination. Fig.
3.5 shows the simplified block diagram of the conventional controller for brushless DC
motor. The controlling ability of the controller is tested under different cases.

i1

Iaref

i2

Ibref

i3

Icref
Ia

Ib

Hysteresis
Current
Controller

Ic
Current
Source
Inverter

2 Axis to 3
Axis

Iqref
PID
Speed
Controller
BLDC
MOTOR
+

ref

actual

Fig. 4.2 Block Diagram of Conventional Controller for PMBLDC Motor

4.4 Fuzzy Controllers

Fuzzy logic (FL) is one of the artificial intelligent techniques. Fuzzy logic unlike
Boolean logic, deals with problems that have fuzziness or vagueness. The classical set
theory is based on Boolean logic, where particular object or variable is either a member
of a given set (logic 1), or it is not (logic 0). On the other hand, in fuzzy set theory based
on fuzzy logic, a particular object has a degree of membership in a given set that may be
anywhere in the range of 0 (completely not in the set) to 1 (completely in the set). For

this reason, FL is often defined as multi-valued logic, compared to bi-valued Boolean

logic.
A FL problem can be defined as an input/output, static, nonlinear problem
through a black box. All input information is defined in the input space, it is processed
in the black box, and the solution appears in the output space. In general, mapping can be
static or dynamic, and the mapping characteristic is determined by the black boxs
characteristics. The black box cannot only be a fuzzy system, but also an Expert System
(ES), neural network, general mathematical system, such as differential equations,
algebraic equations, etc., or anything else. FL processing is shown in Fig. 4.3

Input
Space

Black
Box

Output
Space

Fig. 4.3 Input / Output Mapping Problem

4.4.1 Fuzzy System

A fuzzy inference system (or fuzzy system) basically consists of a formulation of
the mapping from a given input set to an output set using FL, as indicated in fig.4.3. This
mapping process provides the basis from which the inference or conclusion can be made.
A fuzzy inference process consists of the following five steps.

Fuzzification of input variables.

Application of fuzzy operator (AND, OR, NOT) in the IF (antecedent part of

the rule.

Implication from the antecedent to the consequent (THEN part of the rule).

Aggregation of the consequents across the rules.

Defuzzification.

There are number of implication methods and defuzzification methods.

Depending on the requirement choice is made on the implication and defuzzification
methods.

4.4.2 Fuzzy Control

The control algorithm of process that is based on FL or fuzzy inference system is
defined as a fuzzy control. In general, a control system based on Artificial Intelligent
(AI) is defined as intelligent control. A fuzzy control essentially embeds the experience
and intuition of a human plant operator, and sometimes those of a designer and/or
researcher of a plant. The design of a conventional control system is normally based on
the mathematical model of a plant.
Power electronics system models are ill defined. Even if a plant model is well
known there may be parameter variation problems.

Sometimes, the model is

multivariable, complex, and non-linear, such as dynamic d-q model of an ac machine.

Vector or field oriented control of a drive can overcome this problem, but accurate vector
control is nearly impossible, and there may be wide parameter variation problem in the
system. To combat such problems, various adaptive control techniques were used. On
the other hand, fuzzy control is basically an adaptive and nonlinear control, which gives
robust performance for a linear or nonlinear plant with parameter variation.

FL

applications in power electronics and motor drives are somewhat recent. Fuzzy adaptive,
hybrid fuzzy controller gathered momentum to these power electronics and drives areas.
From the above it is clear that, the advent of AI technology has brought new
challenge to power electronics engineers who are struggling with complex, fast
advancing technology. Apart from the above mentioned techniques there are many other
techniques to solve the complex problems.

4.5 Fuzzy Controller

In industrial electronics the FL control has become an attractive solution in
controlling the electrical motor drives. However, the FL controllers design and tuning
process is often complex because several quantities such as membership functions,
control rules and input and output gains must be adjusted. But it gives good response
compared to that of conventional controller both in simulations and experimentally. So,
it is preferred. The block diagram of Fuzzy Logic Speed Controller (FLSC) for brushless
DC motor is shown in fig. 4.4.
Iaref

i1
i2

Ibref

i3

Icref
Ia

2 Axis to 3
Axis

Ib

Hysteresis
Current
Controller

Ic
Current
Source
Inverter

Iq
Fuzzy
Speed
Controller

e(k)

e(k-1)
Z-

+
ref

actual

Fig. 4.4 Block Diagram of Fuzzy Controller for PMBLDC Motor

BLDC
MOTOR

The winding of brushless DC motor is supplied from three-phase voltage source

inverter. The phase currents are controlled by a constant band hysteresis regulator.
The current commands are imposed by outer speed control loop. The FLSC gives an
incremental control action by processing the speed error e(k) and the change in speed
error (ce). The output of FLSC gives reference current magnitude for q-axis current.
In the air gab flux mode d-axis current is zero. Like previous controller
transformation and control of current controller takes place.
4.5.1 Fuzzy Logic Controller Design
Usually, an FLC for motor drive applications gives as output an incremental control
action, which is determined from the speed error and from change of speed error,
defined as follows,

e[k] = r[k] [k]

ce[k] = e[k] e[k-1]
Where k is the sampling time instant, is the rotor speed and r is the speed
reference.
Let us denote by a, b and c the normalized inputs and output of the FLSC as
follows:
a = eGe
b = ceGce
Iq= cGc
Where Ge, Gce, and Gc are respectively the inputs and output controller gains used
as scaling factors as shown in Fig. 4.5.
a

e
Ge

FLC
b

ce
Gce

Iq
GIq

Fig. 4.5 Fuzzy Controller

Since the normalized inputs, a, b take values inside the [-1, +1] interval, input
gains can be simply determined taking into account the maximum absolute values of the
speed error and change of error.

4.5.2 Fuzzy Rules and Choice of Membership Functions

The fuzzy members are chosen as PB, PM, PS, ZE, NB, NM, NS. Moreover, the
triangular-shaped functions are chosen as the membership functions due to the resulting
best control performance and simplicity. The height of the membership functions in this
case is one. These membership functions are chosen with the overlap of two by two.
Also the inference method is Mamdanis one, while as defuzzification technique centroid
method is used. The input and output membership functions of FLSC are as shown in
Fig. 4.6 and 4.7.
NB

-1

NM

-0.5

NS

-0.2

PS

0.2

PB

PM

0.5

Fig. 4.6 Input Membership Functions

+1

NM

NB

-1

NS

-0.2

-0.5

PS

0.2

PB

PM

+1

0.5

Fig. 4.7 Output Membership Functions

Fuzzy rules for the propose FLSC is shown in Table 4.8

Table.4.1 Fuzzy Logic Rules for Fuzzy Controller
e/ce

NB

NM

NS

ZE

PS

PM

PB

NB

NB

NB

NB

NB

NM

NS

ZE

NM

NB

NB

NB

NM

NS

ZE

PS

NS

NB

NB

NM

NS

ZE

PS

PM

ZE

NB

NM

NS

ZE

PS

PM

PB

PS

NM

NS

ZE

PS

PM

PB

PB

PM

NS

ZE

PS

PM

PB

PB

PB

PB

ZE

PS

PM

PB

PB

PB

PB

4.6 summary
The various modes of feedback control mechanisms have been elucidated in this
chapter with focus on control aspects of the PMBLDC system. Concepts and general over
view of fuzzy controllers has been illustrated with various membership function aspects
and rule base as applied to servo mechanism.

CHAPTER 5
IMPLEMENTATION OF SPEED CONTROL IN MATLAB

5.1 Introduction
This chapter describes the implementation of various subsystems taken up in the
speed control aspects of the PMBLDC motor using MATLAB version 6.5. The major
subsystem models namely 2 to 3 axis current transformation, current regulator, current
source inverter, and 3 to 2 axis voltage transformation which has been listed are detailed
in subsequent sections below.
5.2 Implementation of Motor Model
The relevant equations of the d-q axis mathematical model as referred in section
2.4, chapter 2 has been implemented in the MATLAB packages shown in fig 5.1.
The typical values of the motor parameters and name plate details are indicated in
Appendix 1.

Fig 5.1 Implemented Model of 3-Phase Brushless DC Motor

5.3 The PMBLDC Motor Speed Control System
Fig 5.2 shows the overall PMBLDC motor speed control system. It involves three
major subsystems as listed below,

2 to 3 axis current transformation

Current regulator

3 to 2 axis transformation

Fig 5.2 Implemented Overall Diagram of PMBLDC System

The implementations of these subsystems are shown in the figures 5.3, 5.4, and 5.5.

Fig 5.3 Diagram of 2 to 3 Axis Current Transformation Subsystem

Fig 5.4 Diagram of Current Regulator Subsystem

Fig 5.5 Diagram of 3 to 2 Axis Voltage Transformation Subsystem

5.4 Summary
The implementation of the modeling of motor with speed control has been
described in this section based on which the observations of variations of
performance of the servo mechanism has been taken up in the subsequent chapter.
CHAPTER 6
OBSERVATION AND ANALYSIS OF SPEED CONTROL

6.1 Verification of Implement Equivalent d-q Model of PMBLDC Motor

It is important to observe that the brushless dc motor during free acceleration
from stall and step, changes in load torque with sinusoidal applied stator voltages
(voltage source). The machine parameters used in this computer study are those gives in

SCALE: x-axis: Time in sec, y-axis: Ids, Iqs in Amps, r in Rad/sec, Te in N-m.

Fig 6.1 Free Acceleration Characteristics

example J=1*10-04 kg.m2 and Bm=0. The free acceleration characteristics are shown in fig
6.1. The q-axis current iqs, d-axis current Ids, rotor speed r, electromechanical torque Te
are plotted in fig 6.1. Since the device is a four-pole machine, 170 electrical Rad / sec.
The rapid acceleration of the brushless dc motor is apparent. In fact, the rotor
reaches full speed in less than 0.12sec. The acceleration is so rapid that it is difficult to
observe the change in frequency of the applied voltage Vas as the motor accelerates from
stall. To illustrate the frequency change during the acceleration period as shown in fig
6.2. One must aware of this discrepancy if one chooses to use the expression for the
steady-state torque in a transfer function formulation describing the dynamic

SCALE: x-axis: Time in sec, y-axis: Ids, Iqs in Amps, r in Rad/sec, Te in N-m.

Fig 6.2 Dynamic Characteristics TL=0.067 N-m

characteristics of a brushless dc motor. Also, recall that, v = 0, Vds is zero. However,
from steady-state ids is zero. Although Vqs is equal to the peak value of a phase voltage, iqs
is not, in general, equal to the peak value of phase current. The performance during step
changes in load torque is illustrated if fig 6.2. The various data for time, Iq, Id,
electromechanical torque, and speed for different load torque at a fixed speed has been
obtained and enclosed in the appendix-3 for reference.

6.2 Firing Pulse Characteristics

Based on the error output form the motor stator which obtained after equating the
actual and reference current, a range of error values which can be used for ascertaining

SCALE: x-axis: Time in sec, y-axis: Voltage in volts.

Fig 6.3 Firing Pulse Characteristics TL=0.067 N-m

firing characteristics which may be subsequently a good input data for hardware aspects
has been obtained. The range has been found as -0.1201 to 0.5855. The appendix-3 gives
another details on the basis of this observation.
6.3 Hysteresis for Various Band Speed and Torque
It has been obtained that various values of torques for varying speeds the
hysteresis band for its lower and upper cut off values was best in the range between 0.4
to 0.4. For moderate speed control characteristics the hysteresis band had its range
between -0.35 to 0.35. For unsatisfactory control it was apparent that the band is in the
range of 0.2 to 0.2 and on the higher scale of 0.6 to 0.6.
6.2 Summary
The performance of the modeling of motor with various speed control output
characteristics have been verified with those of the theoretical characteristics. Using these
output values we recommended the a few important basis for choosing hardware.

CHAPTER 7
SUMMARY AND CONCLUSIONS

This project has presented the modeling, simulation and analysis of a PMBLDC drive. A
systematic approach on the evaluation and implementation of the motor model has been
presented. The performance of the hysteresis current controller has been examined in
which simulations included the state space model of the motor and speed controller and
real time model of the inverter switches.
The following are the conclusions drawn, which is also a part of the
recommendation for the hardware aspects/requirements.

Based on the error output form the motor stator which obtained after equating
the actual and reference current, a range of error values which can be used for
ascertaining the firing characteristics which may be subsequently a good input
data for hardware aspects has been obtained. The range has been found as
-0.1201 to 0.5855. The appendix-3 gives another details on the basis of this
observation.

It has been obtained that various values of torques for varying speeds the
hysteresis band for its lower and upper cut off values was best in the range
between 0.4 to 0.4. For moderate speed control characteristics the hysteresis
band had its range between -0.35 to 0.35. For unsatisfactory control it was
apparent that the band is in the range of 0.2 to 0.2 and on the higher scale of
0.6 to 0.6.

CHAPTER 8
RECOMMENDATIONS FOR HARDWARE REQUIREMENTS
1. Based on the error output form the motor stator which obtained after equating the
actual and reference current, a range of error values which can be used for
ascertaining the firing characteristics which may be subsequently a good input data
for hardware aspects has been obtained. The range has been found as -0.1201 to
0.5855. The Appendix-3 gives more details, which form the basis for this observation.
2. It has been obtained that various values of torques for varying speeds the hysteresis
band for its lower and upper cut off values was best in the range between 0.4 to 0.4.
For moderate speed control characteristics the hysteresis band had its range between 0.35 to 0.35. For unsatisfactory control it was apparent that the band is in the range of
0.2 to 0.2 and on the higher scale of 0.6 to 0.6.
CHAPTER 9
FUTURE SCOPE OF THE PROJECT

In the implemented scheme, change in machine parameters is not taken into

consideration. If it is considered, the accuracy of the results can be improved

In future, neural networks can be tried with for implementation for other
specifications also.

Suitable methods can be devised to avoid high starting currents to flow through
the motor at the time of starting.

Instead of PID controller, other artificial intelligent techniques can be applied

APPENDIX - 1
Name Plate Details
1. Stator Resistance (rs) = 3.4
2. Time Constant (s) = 3.56e-03 H
3. Pole (P) = 4
4. Inertia Constant Of The Machine (J) = 5e-04 Kg .m2
5. Damping Constant (Bm) = 0
6. Load Torque (TL) = 0.067 N-m
7. Amplitude Of The Flux Linkages Established By The Permanent Magnet
Viewed From Stator Windings (m) = 0.0826 v.s / rad
8. Self-Inductance (Lss) = 12.1 mH
9. Leakge-Indutance (Lls) = 1.1mH
10. Mutual (Magnetizing)-Inductance (Lms) = 7.33mH
11. hp = 1/3
12. DC Voltage (Vdc) = 26 Volts
APPENDIX - 2

As

B
Negative Big

-1.327, -0.995, -0.661

Negative Medium

-1, -0.6666, -0.3334

Negative Small

-0.6613, -0.3281, 0.005291

Zero

-0.3334, 0, 0.3334

Positive Small

0, 0.3334, 0.6666

Positive Medium

0.3334, 0.6666, 1

Positive Big

0.6666, 1, 1.334

M
S
E
S
M
B

Data for Fuzzy Logic Rules for Fuzzy Controller

NB

-1

NM

-0.5

NS

ZE

-0.2

PS

0.2

PB

PM

+1

0.5

Input Membership Functions

NB

-1

NM

-0.5

NS

ZE

-0.2

PS

0.2

PB

PM

0.5

+1

Output Membership Functions

APPENDIX 3

DATA FOR THE PMBLDC MOTOR USING PID CONTROLLER

SPEED = 1600 RPM, TL = 0.04 N-m
error PID
speed output
in * 1000
rad/sec
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263

Iqs

Ids

Te

-0.0005 0.0479 -0.086 0.0119

-0.0005 0.0479 -0.086 0.0119
-0.0005 0.0479 -0.086 0.0119
-0.0005 0.0478 -0.0859 0.0119
-0.0005 0.0478 -0.0859 0.0118
-0.0005 0.0478 -0.0859 0.0118
-0.0005 0.0478 -0.0859 0.0118
-0.0005 0.0477 -0.0859 0.0118
-0.0005 0.0477 -0.0858 0.0118
-0.0005 0.0476 -0.0858 0.0118
-0.0005 0.0476 -0.0858 0.0118
-0.0005 0.0476 -0.0857 0.0118
-0.0005 0.0475 -0.0857 0.0118

speed in
rpm *
1000

first second third limp

Wr
limp
limp
error
error
error
current
current current
* 1000
167.49 1.6002 0.0007 -0.2086 -0.3212
5
167.49 1.6002 0.0007 -0.2083 -0.321
5
167.49 1.6002 0.0007 -0.208 -0.3207
5
167.49 1.6002 0.0007 -0.2073 -0.3201
5
167.49 1.6002 0.0007 -0.206
-0.319
5
167.49 1.6002 0.0007 -0.2044 -0.3176
5
167.49 1.6002 0.0007 -0.2028 -0.3161
5
167.49 1.6002 0.0007 -0.2013 -0.3147
5
167.49 1.6002 0.0007 -0.1995 -0.3131
5
167.49 1.6002 0.0007 -0.1975 -0.3114
5
167.49 1.6002 0.0007 -0.1956 -0.3097
5
167.49 1.6002 0.0007 -0.1935 -0.3078
5
167.49 1.6002 0.0007 -0.1911 -0.3057
5

0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263

-0.0004 0.0475 -0.0857 0.0118 167.49

5
-0.0004 0.0474 -0.0856 0.0117 167.49
5
-0.0004 0.0473 -0.0856 0.0117 167.49
5
-0.0004 0.0473 -0.0855 0.0117 167.49
5
-0.0004 0.0472 -0.0855 0.0117 167.49
5
-0.0004 0.0471 -0.0854 0.0117 167.49
5
-0.0004 0.047 -0.0853 0.0116 167.49
5
-0.0004 0.0469 -0.0853 0.0116 167.49
5
-0.0004 0.0467 -0.0852 0.0116 167.49
5
-0.0004 0.0466 -0.085 0.0115 167.49
5
-0.0004 0.0464 -0.0849 0.0115 167.49
5
-0.0004 0.0461 -0.0847 0.0114 167.49
5
-0.0003 0.0457 -0.0844 0.0113 167.49
5
-0.0003 0.045 -0.0839 0.0111 167.49
5
-0.0003 0.0437 -0.083 0.0108 167.49
5
-0.0002 0.0401 -0.0804 0.0099 167.49
5
-0.0001 0.0372 -0.0783 0.0092 167.49
5
0.0001 0.0372 -0.0783 0.0092 167.49
5
0.0004 0.0372 -0.0783 0.0092 167.49
5
0.0008 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5

1.6002

0.0007 -0.1888

-0.3036

1.6002

0.0007 -0.1862

-0.3013

1.6002

0.0007 -0.1833

-0.2987

1.6002

0.0007 -0.1801

-0.2958

1.6002

0.0007 -0.1765

-0.2926

1.6002

0.0007 -0.1726

-0.2891

1.6002

0.0007 -0.1683

-0.2852

1.6002

0.0007 -0.1633

-0.2808

1.6002

0.0007 -0.1576

-0.2757

1.6002

0.0007 -0.1509

-0.2697

1.6002

0.0007 -0.1431

-0.2627

1.6002

0.0007 -0.1331

-0.2538

1.6002

0.0007 -0.1194

-0.2415

1.6002

0.0007 -0.1004

-0.2244

1.6002

0.0007 -0.0716

-0.1986

1.6002

0.0007 -0.0202

-0.1523

1.6002

0.0007 0.1084

-0.0359

1.6002

0.0007 0.2812

0.1188

1.6002

0.0007 0.4747

0.288

1.6002

0.0006 0.3596

0.1873

1.6002

0.0006 0.3596

0.1873

1.6002

0.0006 0.3596

0.1873

0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263

0.0006 0.0372 -0.0783 0.0092 167.49

5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0372 -0.0783 0.0092 167.49
5
0.0006 0.0371 -0.0783 0.0092 167.49
5
0.0006 0.0371 -0.0783 0.0092 167.49
5
0.0006 0.0371 -0.0783 0.0092 167.49
5

1.6002

0.0006 0.3596

0.1873

1.6002

0.0006 0.3596

0.1873

1.6002

0.0006 0.3596

0.1873

1.6002

0.0006 0.3596

0.1873

1.6002

0.0006 0.3596

0.1873

1.6002

0.0006 0.3596

0.1873

1.6002

0.0006 0.3596

0.1873

1.6002

0.0006 0.3596

0.1873

1.6002

0.0006 0.3596

0.1873

1.6002

0.0006 0.3596

0.1873

1.6002

0.0006 0.3596

0.1873

1.6002

0.0006 0.3596

0.1874

1.6002

0.0006 0.3596

0.1874

1.6002

0.0006 0.3597

0.1874

1.6002

0.0006 0.3597

0.1874

1.6002

0.0006 0.3597

0.1874

1.6002

0.0005 0.3597

0.1874

1.6002

0.0005 0.3597

0.1874

1.6002

0.0004 0.3597

0.1874

1.6002

0.0003 0.3597

0.1874

1.6002 -0.0003 0.3597

0.1875

1.6002 -0.0002 0.3598

0.1875

0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263

0.0006 0.0371 -0.0783 0.0092 167.49

5
0.0006 0.0371 -0.0782 0.0092 167.49
5
0.0006 0.0371 -0.0782 0.0092 167.49
5
0.0006 0.0371 -0.0782 0.0092 167.49
5
0.0006 0.0371 -0.0782 0.0092 167.49
5
0.0006 0.0371 -0.0782 0.0092 167.49
5
0.0006 0.0371 -0.0782 0.0092 167.49
5
0.0006 0.0371 -0.0781 0.0092 167.49
5
0.0006 0.0371 -0.0781 0.0092 167.49
5
0.0006 0.0371 -0.0781 0.0092 167.49
5
0.0006 0.0371 -0.078 0.0092 167.49
5
0.0006 0.0371 -0.078 0.0092 167.49
5
0.0006 0.0371 -0.078 0.0092 167.49
5
0.0006 0.0371 -0.0779 0.0092 167.49
5
0.0006 0.037 -0.0779 0.0092 167.49
5
0.0006 0.037 -0.0779 0.0092 167.49
5
0.0006 0.037 -0.0778 0.0092 167.49
5
0.0006 0.037 -0.0778 0.0092 167.49
5
0.0006 0.037 -0.0777 0.0092 167.49
5
0.0006 0.037 -0.0776 0.0092 167.49
5
0.0006 0.0369 -0.0776 0.0092 167.49
5
0.0006 0.0369 -0.0775 0.0091 167.49
5

1.6002 -0.0012 0.3598

0.1875

1.6002 -0.0007 0.3598

0.1876

1.6002 -0.0007 0.3599

0.1876

1.6002 -0.0007 0.3601

0.1878

1.6002 -0.0007 0.3603

0.188

1.6002 -0.0007 0.3606

0.1884

1.6002 -0.0007 0.361

0.1887

1.6002 -0.0007 0.3613

0.189

1.6002 -0.0007 0.3616

0.1893

1.6002 -0.0007 0.362

0.1897

1.6002 -0.0007 0.3624

0.1901

1.6002 -0.0007 0.3628

0.1905

1.6002 -0.0007 0.3633

0.191

1.6002 -0.0007 0.3638

0.1914

1.6002 -0.0007 0.3643

0.192

1.6002 -0.0007 0.3649

0.1925

1.6002 -0.0007 0.3655

0.1932

1.6002 -0.0007 0.3662

0.1939

1.6002 -0.0007 0.367

0.1947

1.6002 -0.0007 0.3678

0.1955

1.6002 -0.0007 0.3688

0.1965

1.6002 -0.0007

0.1976

0.37

0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263

0.0006 0.0369 -0.0774 0.0091 167.49

5
0.0006 0.0368 -0.0772 0.0091 167.49
5
0.0006 0.0368 -0.077 0.0091 167.49
5
0.0006 0.0367 -0.0767 0.0091 167.49
5
0.0006 0.0365 -0.0762 0.0091 167.49
5
0.0006 0.0363 -0.0753 0.009 167.49
5
0.0006 0.0355 -0.0727 0.0088 167.49
5
0.0007 0.0325 -0.0632 0.0081 167.49
5
0.0007 0.0325 -0.0632 0.0081 167.49
5
0.0009 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.0013 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5

1.6002 -0.0007 0.3713

0.199

1.6002 -0.0007 0.3729

0.2005

1.6002 -0.0007 0.3749

0.2025

1.6002 -0.0007 0.3776

0.2053

1.6002 -0.0007 0.3814

0.2091

1.6002 -0.0007 0.3872

0.215

1.6002 -0.0007 0.3975

0.2256

1.6002 -0.0007 0.4237

0.2532

1.6002 -0.0007 0.5145

0.3502

1.6002 -0.0007 0.5562

0.3869

1.6002 -0.0007 0.7135

0.5254

1.6002 -0.0007 0.5916

0.418

1.6002 -0.0007 0.5916

0.418

1.6002 -0.0007 0.5916

0.418

1.6002 -0.0007 0.5916

0.418

1.6002 -0.0007 0.5916

0.418

1.6002 -0.0007 0.5916

0.418

1.6002 -0.0007 0.5916

0.418

1.6002 -0.0007 0.5916

0.418

1.6002 -0.0007 0.5916

0.418

1.6002 -0.0007 0.5916

0.418

1.6002 -0.0007 0.5916

0.418

0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263

0.001 0.0325 -0.0632 0.0081 167.49

5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0325 -0.0632 0.0081 167.49
5
0.001 0.0326 -0.0632 0.0081 167.49
5
0.001 0.0326 -0.0632 0.0081 167.49
5
0.001 0.0326 -0.0632 0.0081 167.49
5
0.001 0.0326 -0.0632 0.0081 167.49
5
0.001 0.0326 -0.0632 0.0081 167.49
5
0.001 0.0326 -0.0632 0.0081 167.49
5

1.6002 -0.0007 0.5916

0.418

1.6002 -0.0007 0.5916

0.418

1.6002 -0.0007 0.5916

0.418

1.6002 -0.0007 0.5916

0.418

1.6002 -0.0007 0.5915

0.418

1.6002 -0.0007 0.5915

0.418

1.6002 -0.0007 0.5915

0.418

1.6002 -0.0007 0.5915

0.418

1.6002 -0.0007 0.5915

0.418

1.6002 -0.0007 0.5915

0.418

1.6002 -0.0006 0.5915

0.4179

1.6002 -0.0006 0.5915

0.4179

1.6002 -0.0005 0.5915

0.4179

1.6002

0.5914

0.4179

1.6002

0.0004 0.5914

0.4179

1.6002

0.0008 0.5914

0.4178

1.6002

0.0005 0.5913

0.4178

1.6002

0.0005 0.5912

0.4177

1.6002

0.0005

0.591

0.4175

1.6002

0.0005 0.5907

0.4173

1.6002

0.0005 0.5905

0.4171

1.6002

0.0005 0.5902

0.4168

0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263
0.0263

0.001 0.0326 -0.0632 0.0081 167.49 1.6002 0.0005 0.5899

0.4166
5
0.001 0.0326 -0.0632 0.0081 167.49 1.6002 0.0005 0.5896
0.4163
5
0.001 0.0326 -0.0632 0.0081 167.49 1.6002 0.0005 0.5893
0.416
5
0.001 0.0326 -0.0632 0.0081 167.49 1.6002 0.0005 0.5889
0.4157
5
0.001 0.0326 -0.0632 0.0081 167.49 1.6002 0.0005 0.5886
0.4154
5
0.001 0.0326 -0.0632 0.0081 167.49 1.6002 0.0005 0.5882
0.4151
5
0.001 0.0326 -0.0632 0.0081 167.49 1.6002 0.0005 0.5878
0.4147
5
0.001 0.0326 -0.0632 0.0081 167.49 1.6002 0.0005 0.5873
0.4143
5
DATA FOR THE PMBLDC MOTOR USING PID CONTROLLER
SPEED = 1600 RPM, TL = 0.04 N-m

error PID
speed output
in * 1000
rad/sec

Iqs

Ids

Te

0.0066 -0.0006 0.1736 -0.0939 0.043

0.0066 -0.0006 0.1735 -0.0939 0.043
0.0066 -0.0006 0.1735 -0.0939 0.043
0.0066 -0.0006 0.1734 -0.0939 0.043
0.0066 -0.0006 0.1733 -0.0939 0.043
0.0066 -0.0006 0.1733 -0.0939 0.0429
0.0066 -0.0006 0.1732 -0.0939 0.0429
0.0066 -0.0006 0.1731 -0.0939 0.0429
0.0066 -0.0006 0.173 -0.0939 0.0429
0.0066 -0.0006 0.1729 -0.0939 0.0429

first second third limp

limp
limp
error
error
error
current
current current
* 1000
167.46 1.5999 0.0008 -0.3995 -0.4176
2
167.46 1.5999 0.0008 -0.3966 -0.4156
2
167.46 1.5999 0.0008 -0.3938 -0.4136
2
167.46 1.5999 0.0008 -0.3906 -0.4113
2
167.46 1.5999 0.0008 -0.3869 -0.4087
2
167.46 1.5999 0.0008 -0.3833 -0.4061
2
167.46 1.5999 0.0008 -0.3793 -0.4032
2
167.46 1.5999 0.0008 -0.3748
-0.4
2
167.46 1.5999 0.0008 -0.3699 -0.3965
2
167.46 1.5999 0.0008 -0.3645 -0.3927
2
Wr

speed in
rpm *
1000

0.0066 -0.0006 0.1728 -0.0939 0.0428 167.46

2
0.0066 -0.0006 0.1727 -0.0939 0.0428 167.46
2
0.0066 -0.0006 0.1726 -0.0939 0.0428 167.46
2
0.0066 -0.0006 0.1724 -0.0939 0.0427 167.46
2
0.0066 -0.0005 0.1722 -0.0939 0.0427 167.46
2
0.0066 -0.0005 0.172 -0.0939 0.0426 167.46
2
0.0066 -0.0005 0.1717 -0.0939 0.0426 167.46
2
0.0066 -0.0005 0.1713 -0.0939 0.0425 167.46
2
0.0066 -0.0005 0.1708 -0.0939 0.0423 167.46
2
0.0066 -0.0004 0.17 -0.0939 0.0421 167.46
2
0.0066 -0.0004 0.1686 -0.0939 0.0418 167.46
2
0.0066 -0.0003 0.1652 -0.0939 0.0409 167.46
2
0.0066 -0.0002 0.1576 -0.0939 0.0391 167.46
2
0.0066
0
0.1576 -0.0939 0.0391 167.46
2
0.0066 0.0006 0.1576 -0.0939 0.0391 167.46
2
0.0066 0.0016 0.1576 -0.0939 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.0939 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.0939 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.094 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.094 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.094 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.094 0.0391 167.46
2

1.5999

0.0008 -0.3585

-0.3884

1.5999

0.0008 -0.3519

-0.3837

1.5999

0.0007 -0.3444

-0.3783

1.5999

0.0007 -0.3359

-0.3722

1.5999

0.0007 -0.3259

-0.3651

1.5999

0.0007 -0.3143

-0.3568

1.5999

0.0007 -0.2997

-0.3464

1.5999

0.0007

-0.3323

1.5999

0.0006 -0.2533

-0.3132

1.5999

0.0006 -0.2144

-0.2854

1.5999

0.0006 -0.1492

-0.2387

1.5999

0.0005 -0.0086

-0.1379

1.5999

0.0004 0.3094

0.0906

1.5999

0.0001 0.8909

0.507

1.5999 -0.0004 0.5264

0.246

1.5999 -0.0014 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

-0.28

0.0066 0.0009 0.1576 -0.094 0.0391 167.46

2
0.0066 0.0009 0.1576 -0.094 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.094 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.0941 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.0941 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.0942 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.0945 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.0955 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.0988 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1576 -0.1041 0.0391 167.46
2

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.246

1.5999 -0.0008 0.5264

0.2459

1.5999 -0.0008 0.5264

0.2459

1.5999 -0.0008 0.5264

0.2459

1.5999 -0.0008 0.5264

0.2459

1.5999 -0.0008 0.5263

0.2459

1.5999 -0.0008 0.5263

0.2459

1.5999 -0.0008 0.5263

0.2459

1.5999 -0.0008 0.5263

0.2459

1.5999 -0.0008 0.5262

0.2458

1.5999 -0.0008 0.5261

0.2458

1.5999 -0.0008 0.5259

0.2456

0.0066 0.0009 0.1576 -0.1041 0.0391 167.46

2
0.0066 0.0009 0.1576 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1577 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1577 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1577 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1577 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1577 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1577 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1577 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1577 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1577 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1577 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1577 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1577 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1577 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1578 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1578 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1578 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1578 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1578 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1579 -0.1041 0.0391 167.46
2
0.0066 0.0009 0.1579 -0.1041 0.0391 167.46
2

1.5999 -0.0008 0.5257

0.2455

1.5999 -0.0008 0.5254

0.2453

1.5999 -0.0008 0.5252

0.2451

1.5999 -0.0008 0.5249

0.2449

1.5999 -0.0008 0.5246

0.2447

1.5999 -0.0008 0.5243

0.2445

1.5999 -0.0008 0.524

0.2443

1.5999 -0.0008 0.5237

0.244

1.5999 -0.0008 0.5233

0.2438

1.5999 -0.0008 0.5229

0.2435

1.5999 -0.0008 0.5225

0.2432

1.5999 -0.0008 0.522

0.2428

1.5999 -0.0008 0.5214

0.2424

1.5999 -0.0008 0.5208

0.242

1.5999 -0.0008 0.5202

0.2415

1.5999 -0.0008 0.5194

0.241

1.5999 -0.0008 0.5186

0.2404

1.5999 -0.0008 0.5175

0.2397

1.5999 -0.0008 0.5164

0.2388

1.5999 -0.0008 0.5148

0.2377

1.5999 -0.0008 0.5128

0.2363

1.5999 -0.0008 0.5099

0.2342

0.0066 0.0009 0.158 -0.1041 0.0392 167.46

2
0.0066 0.0009 0.1582 -0.1041 0.0392 167.46
2
0.0066 0.0009 0.1586 -0.1041 0.0393 167.46
2
0.0066 0.0009 0.1604 -0.1041 0.0398 167.46
2
0.0066 0.0009 0.1652 -0.1041 0.0409 167.46
2
0.0063 0.0008 0.1735 -0.1041 0.043 167.46
3
0.0063 0.0004 0.1735 -0.1041 0.043 167.46
3
0.0063 -0.0002 0.1735 -0.104 0.043 167.46
3
0.0063 -0.001 0.1735 -0.104 0.043 167.46
3
0.0063 -0.0006 0.1735 -0.104 0.043 167.46
3
0.0063 -0.0006 0.1735 -0.104 0.043 167.46
3
0.0063 -0.0006 0.1735 -0.104 0.043 167.46
3
0.0063 -0.0006 0.1735 -0.104 0.043 167.46
3
0.0063 -0.0006 0.1735 -0.104 0.043 167.46
3
0.0063 -0.0006 0.1735 -0.104 0.043 167.46
3
0.0063 -0.0006 0.1735 -0.1039 0.043 167.46
3
0.0063 -0.0006 0.1735 -0.1039 0.043 167.46
3
0.0063 -0.0006 0.1735 -0.1039 0.043 167.46
3
0.0063 -0.0006 0.1735 -0.1038 0.043 167.46
3
0.0063 -0.0006 0.1735 -0.1037 0.043 167.46
3
0.0063 -0.0006 0.1735 -0.1036 0.043 167.46
3
0.0063 -0.0006 0.1735 -0.1032 0.043 167.46
3

1.5999 -0.0007 0.5057

0.2312

1.5999 -0.0007 0.4982

0.2259

1.5999 -0.0007 0.4802

0.2131

1.5999 -0.0007 0.4157

0.1669

1.5999 -0.0007 0.226

0.0292

1.5999 -0.0006 -0.149

-0.251

1.5999 -0.0003 -0.5743

-0.5674

1.5999

0.0004 -0.3847

-0.4263

1.5999

0.0011 -0.3847

-0.4263

1.5999

0.0008 -0.3846

-0.4263

1.5999

0.0008 -0.3847

-0.4263

1.5999

0.0008 -0.3846

-0.4263

1.5999

0.0008 -0.3846

-0.4263

1.5999

0.0008 -0.3846

-0.4263

1.5999

0.0008 -0.3845

-0.4262

1.5999

0.0008 -0.3845

-0.4262

1.5999

0.0008 -0.3845

-0.4262

1.5999

0.0008 -0.3844

-0.4262

1.5999

0.0008 -0.3844

-0.4261

1.5999

0.0008 -0.3844

-0.4261

1.5999

0.0008 -0.3843

-0.4261

1.5999

0.0008 -0.3843

-0.426

0.0063 -0.0006 0.1735 -0.1026 0.043

0.0063 -0.0006 0.1735 -0.1026 0.043
0.0063 -0.0006 0.1735 -0.1026 0.043
0.0063 -0.0006 0.1735 -0.1026 0.043
0.0063 -0.0006 0.1735 -0.1026 0.043
0.0063 -0.0006 0.1735 -0.1026 0.043
0.0063 -0.0006 0.1735 -0.1026 0.043
0.0063 -0.0006 0.1735 -0.1026 0.043
0.0063 -0.0006 0.1735 -0.1026 0.043
0.0063 -0.0006 0.1735 -0.1026 0.043
0.0063 -0.0006 0.1735 -0.1026 0.043
0.0063 -0.0006 0.1735 -0.1026 0.043
0.0063 -0.0006 0.1734 -0.1026 0.043
0.0063 -0.0006 0.1734 -0.1026 0.043
0.0063 -0.0006 0.1734 -0.1026 0.043
0.0063 -0.0006 0.1733 -0.1026 0.043
0.0063 -0.0006 0.1733 -0.1026 0.0429
0.0063 -0.0006 0.1732 -0.1026 0.0429
0.0063 -0.0006 0.1732 -0.1026 0.0429
0.0063 -0.0006 0.1731 -0.1026 0.0429
0.0063 -0.0006 0.1731 -0.1026 0.0429
0.0063 -0.0006 0.173 -0.1026 0.0429

167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3
167.46
3

1.5999

0.0008 -0.3842

-0.426

1.5999

0.0008 -0.3842

-0.4259

1.5999

0.0008 -0.3841

-0.4259

1.5999

0.0008 -0.384

-0.4258

1.5999

0.0008 -0.384

-0.4258

1.5999

0.0008 -0.3839

-0.4257

1.5999

0.0008 -0.3838

-0.4256

1.5999

0.0008 -0.3836

-0.4255

1.5999

0.0008 -0.3835

-0.4254

1.5999

0.0008 -0.3833

-0.4253

1.5999

0.0008 -0.3831

-0.4251

1.5999

0.0008 -0.3827

-0.4249

1.5999

0.0008 -0.3822

-0.4245

1.5999

0.0008 -0.3813

-0.4238

1.5999

0.0008 -0.3794

-0.4224

1.5999

0.0008 -0.377

-0.4206

1.5999

0.0008 -0.3745

-0.4187

1.5999

0.0008 -0.372

-0.4169

1.5999

0.0008 -0.3693

-0.4149

1.5999

0.0008 -0.3663

-0.4126

1.5999

0.0008 -0.3633

-0.4104

1.5999

0.0008

-0.408

-0.36

0.0063 -0.0006 0.173 -0.1026 0.0429 167.46 1.5999 0.0008 -0.3564 -0.4053
3
0.0063 -0.0006 0.1729 -0.1026 0.0428 167.46 1.5999 0.0008 -0.3528 -0.4026
3
0.0063 -0.0006 0.1728 -0.1026 0.0428 167.46 1.5999 0.0008 -0.3488 -0.3996
3
0.0063 -0.0006 0.1727 -0.1026 0.0428 167.46 1.5999 0.0008 -0.3443 -0.3963
3
0.0063 -0.0006 0.1727 -0.1026 0.0428 167.46 1.5999 0.0007 -0.3393 -0.3926
3
0.0063 -0.0006 0.1726 -0.1026 0.0428 167.46 1.5999 0.0007 -0.3339 -0.3886
3
0.0063 -0.0006 0.1724 -0.1026 0.0427 167.46 1.5999 0.0007 -0.3279 -0.3841
3
0.0063 -0.0005 0.1723 -0.1026 0.0427 167.46 1.5999 0.0007 -0.3212 -0.3791
3
0.0063 -0.0005 0.1722 -0.1026 0.0427 167.46 1.5999 0.0007 -0.3136 -0.3734
3
0.0063 -0.0005 0.172 -0.1026 0.0426 167.46 1.5999 0.0007 -0.305
-0.367
3
0.0063 -0.0005 0.1718 -0.1026 0.0426 167.46 1.5999 0.0007 -0.2948 -0.3594
3
0.0063 -0.0005 0.1716 -0.1026 0.0425 167.46 1.5999 0.0007 -0.2829 -0.3506
3
0.0063 -0.0005 0.1713 -0.1026 0.0424 167.46 1.5999 0.0007 -0.2679 -0.3394
3
0.0063 -0.0005 0.1709 -0.1026 0.0423 167.46 1.5999 0.0006 -0.2474 -0.3241
3
0.0063 -0.0004 0.1703 -0.1026 0.0422 167.46 1.5999 0.0006 -0.2191 -0.303
3
0.0063 -0.0004 0.1694 -0.1026 0.042 167.46 1.5999 0.0006 -0.177 -0.2717
3
DATA FOR THE PMBLDC MOTOR USING PID CONTROLLER
SPEED = 1600 RPM, TL = 0.067 N-m
error PID
speed in
speed output Iqs
Ids
Te
Wr
rpm *
in * 1000
1000
rad/se
c
0.0397 0.0008 0.2718 -0.0329 0.0674 167.42 1.5996
4
0.0397 0.0008 0.2718 -0.0329 0.0673 167.42 1.5996
4

first second third limp

limp
limp
error
error
error
current
current current
* 1000
-0.0002 0.5612 -0.3126
-0.0002 0.5632

-0.3136

0.0397 0.0008 0.2718 -0.0329 0.0673 167.42

4
0.0397 0.0008 0.2717 -0.0329 0.0673 167.42
4
0.0397 0.0008 0.2717 -0.0329 0.0673 167.42
4
0.0397 0.0008 0.2717 -0.0329 0.0673 167.42
4
0.0397 0.0008 0.2716 -0.0329 0.0673 167.42
4
0.0397 0.0008 0.2716 -0.0329 0.0673 167.42
4
0.0397 0.0008 0.2716 -0.0329 0.0673 167.42
4
0.0397 0.0008 0.2716 -0.0329 0.0673 167.42
4
0.0397 0.0009 0.2715 -0.0329 0.0673 167.42
4
0.0397 0.0009 0.2715 -0.0329 0.0673 167.42
4
0.0397 0.0009 0.2714 -0.0329 0.0673 167.42
4
0.0397 0.0009 0.2714 -0.0329 0.0672 167.42
4
0.0397 0.0009 0.2713 -0.0329 0.0672 167.42
4
0.0397 0.0009 0.2712 -0.0329 0.0672 167.42
4
0.0397 0.0009 0.2712 -0.0329 0.0672 167.42
4
0.0397 0.0009 0.2711 -0.0329 0.0672 167.42
4
0.0397 0.0009 0.271 -0.0329 0.0671 167.42
4
0.0397 0.0009 0.2708 -0.0329 0.0671 167.42
4
0.0397 0.0009 0.2706 -0.0329 0.0671 167.42
4
0.0397 0.0009 0.2703 -0.0329 0.067 167.42
4
0.0397 0.0009 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4

1.5996 -0.0002 0.5653

-0.3146

1.5996 -0.0002 0.5675

-0.3158

1.5996 -0.0003

-0.317

0.57

1.5996 -0.0003 0.5724

-0.3183

1.5996 -0.0003 0.5751

-0.3196

1.5996 -0.0003 0.5781

-0.3211

1.5996 -0.0003 0.5811

-0.3226

1.5996 -0.0003 0.5844

-0.3243

1.5996 -0.0003 0.5881

-0.3262

1.5996 -0.0003 0.5921

-0.3282

1.5996 -0.0003 0.5966

-0.3305

1.5996 -0.0003 0.6016

-0.333

1.5996 -0.0003 0.6071

-0.3358

1.5996 -0.0003 0.6134

-0.339

1.5996 -0.0003 0.6206

-0.3426

1.5996 -0.0003 0.6291

-0.3469

1.5996 -0.0003 0.639

-0.3519

1.5996 -0.0003 0.6516

-0.3582

1.5996 -0.0003 0.6689

-0.367

1.5996 -0.0003 0.693

-0.3791

1.5996 -0.0003 0.7291

-0.3974

1.5996 -0.0003 0.7043

-0.3848

0.0397 0.001 0.2699 -0.0329 0.0669 167.42

4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.0017 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4

1.5996 -0.0003 1.4357

-0.7549

1.5996 -0.0003 0.7506

-0.4082

1.5996 -0.0007 0.7507

-0.4083

1.5996 -0.0003 0.7507

-0.4083

1.5996 -0.0003 0.7507

-0.4083

1.5996 -0.0003 0.7507

-0.4083

1.5996 -0.0003 0.7507

-0.4083

1.5996 -0.0003 0.7507

-0.4083

1.5996 -0.0003 0.7507

-0.4083

1.5996 -0.0003 0.7507

-0.4083

1.5996 -0.0003 0.7507

-0.4083

1.5996 -0.0003 0.7507

-0.4083

1.5996 -0.0003 0.7507

-0.4083

1.5996 -0.0003 0.7507

-0.4083

1.5996 -0.0003 0.7507

-0.4083

1.5996 -0.0003 0.7507

-0.4082

1.5996 -0.0003 0.7506

-0.4082

1.5996 -0.0003 0.7506

-0.4082

1.5996 -0.0003 0.7506

-0.4082

1.5996 -0.0003 0.7506

-0.4082

1.5996 -0.0003 0.7506

-0.4082

1.5996 -0.0003 0.7506

-0.4082

0.0397 0.001 0.2699 -0.0329 0.0669 167.42

4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0397 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0396 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0391 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0391 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0391 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0391 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0391 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0391 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0391 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0391 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0391 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0391 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0391 0.001 0.2699 -0.0329 0.0669 167.42
4
0.0391 0.001 0.27 -0.0329 0.0669 167.42
4
0.0391 0.001 0.27 -0.0329 0.0669 167.42
4
0.0391 0.001 0.27 -0.0328 0.0669 167.42
4
0.0391 0.001 0.27 -0.0328 0.0669 167.42
4
0.0391 0.001 0.27 -0.0328 0.0669 167.42
4
0.0391 0.001 0.27 -0.0328 0.0669 167.42
4

1.5996 -0.0003 0.7506

-0.4082

1.5996 -0.0003 0.7506

-0.4082

1.5996 -0.0003 0.7505

-0.4082

1.5996 -0.0003 0.7505

-0.4082

1.5996 -0.0003 0.7505

-0.4082

1.5996 -0.0003 0.7504

-0.4081

1.5996 -0.0003 0.7503

-0.4081

1.5996 -0.0003 0.7502

-0.408

1.5996 -0.0003 0.7499

-0.4079

1.5996 -0.0003 0.7496

-0.4077

1.5996 -0.0003 0.7492

-0.4075

1.5996 -0.0003 0.7488

-0.4073

1.5996 -0.0003 0.7484

-0.4071

1.5996 -0.0003 0.748

-0.4069

1.5996 -0.0003 0.7476

-0.4067

1.5996 -0.0003 0.7471

-0.4064

1.5996 -0.0003 0.7466

-0.4061

1.5996 -0.0003 0.746

-0.4059

1.5996 -0.0003 0.7454

-0.4056

1.5996 -0.0003 0.7448

-0.4052

1.5996 -0.0003 0.744

-0.4048

1.5996 -0.0003 0.7432

-0.4044

0.0391 0.001

0.27 -0.0328 0.0669 167.42

4
0.0391 0.001 0.27 -0.0328 0.0669 167.42
4
0.0391 0.001 0.27 -0.0328 0.0669 167.42
4
0.0391 0.001 0.27 -0.0328 0.0669 167.42
4
0.0391 0.001 0.2701 -0.0328 0.0669 167.42
4
0.0391 0.001 0.2701 -0.0328 0.0669 167.42
4
0.0391 0.001 0.2701 -0.0328 0.0669 167.42
4
0.0391 0.001 0.2701 -0.0328 0.0669 167.42
4
0.0391 0.001 0.2702 -0.0328 0.067 167.42
4
0.0391 0.001 0.2703 -0.0328 0.067 167.42
4
0.0391 0.001 0.2704 -0.0328 0.067 167.42
4
0.0391 0.001 0.2708 -0.0327 0.0671 167.42
4
0.0391 0.001 0.2723 -0.0324 0.0675 167.42
4
0.0391 0.001 0.2764 -0.0314 0.0685 167.42
4
0.0391 0.0009 0.2862 -0.0288 0.0709 167.42
5
0.0391 0.0006 0.2862 -0.0288 0.0709 167.42
5
0.0391 -0.0001 0.2862 -0.0288 0.0709 167.42
5
0.0391 -0.0007 0.2862 -0.0288 0.0709 167.42
5
0.0391 -0.0006 0.2862 -0.0288 0.0709 167.42
5
0.0391 -0.0006 0.2862 -0.0288 0.0709 167.42
5
0.0391 -0.0006 0.2862 -0.0288 0.0709 167.42
5
0.0391 -0.0006 0.2862 -0.0288 0.0709 167.42
5

1.5996 -0.0003 0.7423

-0.404

1.5996 -0.0003 0.7414

-0.4035

1.5996 -0.0003 0.7402

-0.4029

1.5996 -0.0003 0.739

-0.4022

1.5996 -0.0003 0.7374

-0.4015

1.5996 -0.0003 0.7357

-0.4006

1.5996 -0.0003 0.7334

-0.3994

1.5996 -0.0003 0.7304

-0.3978

1.5996 -0.0003 0.7262

-0.3957

1.5996 -0.0003 0.7199

-0.3924

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0.039 -0.0004 0.2835 -0.0287 0.0703 167.42 1.5996

5
0.039 -0.0004 0.2829 -0.0287 0.0701 167.42 1.5996
5

0.0004 -0.6379

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0.2652

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