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Fuzzy Logic Controller for BLDC Permanent Magnet
Motor Drives

Tan Chee Siong, Baharuddin Ismail, Siti Fatimah Siraj, Mohd Fayzul Mohammed
School of Electrical System Engineering, Universiti Malaysia Perlis, Malaysia
terry_tcs_5510@yahoo.com, baha@unimap.edu.my


Abstract- This paper presents a fuzzy logic controller for
brushless direct current (BLDC) permanent magnet motor
drives. Initially a fuzzy logic controller is developed using
MATLAB Fuzzy-Logic Toolbox and then inserted into the
Simulink model. The dynamic characteristics of the brushless DC
motor such as speed, torque, current and voltage of the inverter
components are observed and analyzed using the developed
MATLAB model. In order to verify the effectiveness of the
controller, the simulation results are compared with
TMS320F2808 DSP experimental results. The simulation and
experimental results show that the brushless direct current motor
(BLDC) is successfully and efficiently controlled by the Fuzzy
logic controller.


I ndex Term Fuzzy logic controller, BLDC motor drives,
Digital Signal Processing


I. INTRODUCTION
Modern intelligent motion applications demand accurate speed
and position control. Many machine and control schemes have
been developed to improve the performance of BLDC motor
drives. Some simulation models based on state-space
equations, Fouries-transforms, d-q axis model and variable
sampling have been proposed for the analysis of BLDC motor
drives. Limitations of brushed DC motors overcome by BLDC
motors include lower efficiency and susceptibility of the
commutator assembly to mechanical wear and consequent
need for servicing, at the cost of potentially less rugged and
more complex and expensive control electronics. BLDC
motors offer better speed versus torque characteristics, high
dynamic response, high efficiency, long operating life,
noiseless operation and higher speed ranges [1]. Due to
their favorable electrical and mechanical properties, BLDC
motors are widely used in servo applications such as
automotive, aerospace, medical, instrumentation, actuation,
robotics, machine tools and industrial automation equipment.
Many machine design and control schemes have been
developed to improve the performance of BLDC motor
drives. The model of motor drive has to be known in order
to implement an effective control in simulation. Furthermore,
fuzzy logic controllers (FLCs) have been used to analyze
BLDC motor drives [2]. In this paper, a comprehensive
simulation model with a fuzzy logic controller is
presented. MATLAB/fuzzy logic toolbox is used to design
the FLC, which is integrated into simulations with
Simulink [3]. Besides, considering that the computational
time without affecting the accuracy of the results obtained is
very low, it can be said that the proposed method is promising
[4]. Previous studies and development of control schemes
have made a very good contribution to BLDC motor drives,
but the comprehensive approach has not been available for
modeling and analysis of fuzzy logic controlled BLDC motor
drives using TMS320F2808 hardware experimental set.
Several simulation and experimental results are shown to
ensure the validity and performance of the fuzzy logic BLDC
motor drive. .
.
II. SYSTEMS STRUCTURE
A. Permanent-Magnet BLDC Motor Structure

Fig. 1 illustrates the transverse section structure of a
brushless DC motor. The stator windings of BLDC are
similar to those in a polyphase AC motor, and the rotor is
composed of one or more permanent magnets. Brushless DC
motors (BLDC) contain a powerful permanent magnet
rotor and fixed stator windings. The stationary stator
windings are usually three phases, which means that three
separate voltages are supplied to the three different sets of
windings [5]. Brushless DC motors are different from AC
synchronous motors in that the former incorporates some
means to detect the rotor position (or magnetic poles) to
produce signals to control the electronic switches as shown
in fig. 2.

Fig. 1. Transverse section structure of a brushless dc motor

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Fig. 2. Diagram for BLDC motor systems

Fig. 3 shows the electrical diagram of BLDC motor. It
consists of a phase resistance (R) and an inductance (L)
respectively.


Fig. 3. Electrical diagram of BLDC motor
B. Structure of fuzzy logic controller

Fig. 4 shows the Fuzzy logic for a BLDC motor drive
system. The system contains two loops, the first loop is the
current control loop that accomplishes torque control of
BLDC motor and the second loop is the speed control loop
that adjusts the speed of t h e BLDC motor.


Fig. 4. Fuzzy logic for BLDC motor drive system

Fig. 5 shows the basic structure of a fuzzy logic
controller. Fuzzy logic linguistic terms are most often
expressed in the form of logical implications, such as If-
Then rules. These rules define a range of values known as
fuzzy membership functions [4]. Fuzzy membership
functions may be in the form of a triangle, a trapezoid, a
bell as shows in fig. 6, or of another appropriate form [6].


Fig. 5. Structure of fuzzy logic controller

Fig. 6. (a) triangle, (b) trapezoid, and (c) bell membership function

Fig. 7 illustrates the membership function of fuzzy logic
controller that used the fuzzification of two input values
and defuzzification output of the controller. There are
seven clusters in the membership functions, wi t h seven
linguistic variables defined as: Negative Big (NB),
Negative Medium (NM), Negative Small (NS), Zero (Z),
Positive Small (PS), Positive Medium (PM), and Positive Big
(PB).



Fig. 7. Membership functions of fuzzy logic controller
A sliding mode rule-base, used in the fuzzy logic
controller is given in Table 1. The fuzzy inference operation
is implemented by using the 49 rules. The min-max
compositional rule of inference and the center of gravity
method have been used in the defuzzification process [5].

If p1 is NB and p2 is NB Then out is PB,
If p1 is NB and p2 is NM Then out is PB,
If p1 is NB and p2 is NS Then out is PM,
If p1 is NB and p2 is Z Then out is PM,
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Fig. 8. Matlab simulation diagram of fuzzy logic control
TABLE I.
RULE BASE OF FUZZY LOGIC CONTROLLER

C. Simulation structure of fuzzy in Matlab
Fig. 8 shows the Matlab simulation diagram of the Fuzzy
logic controller. The developed Matlab model is use to
observe the phase current waveforms, speed, torque and
maximun current.
III. MATHEMATICAL EQUATIONS
The trapezoidal back-EMF wave forms are modeled
as a function of rotor position so that rotor position can
be actively calculated according to the operation speed.
The back EMFs are expressed as a function of rotor
position ().






(1)

Where ke is back-EMF constant, fa ( ) , fb() , and fc
() are functions of rotor position.
(2)
Where; va , vb , and vc are phase voltages, R is
resistance, L is inductance, M is mutual inductance, ea ,
eb , and ec are trapezoidal back EMFs.
The motion equation is:

(3)

The trapezoidal shape functions with limit values between
+1 and -1:
(4)

The expression of electromagnetic torque:

Te = ke ( fa () ia + fa () ib + fc () ic ) (5)


Speed and torque characteristics of BLDC motor:

(6)


The error and the change in error:


e1[n] = wref [n] wr [n] (7)

e2[n] = e1 [n] e1 [n-1] (8)

IV. RESULTS
A. MATLAB Simulations

In order to validate the control strategies as
described, digital simulations were carried out on a
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converter f o r a DC motor drive system using
MATLAB/SIMULINK, whe r e the parameters used for the
DC motor drive system is given in table II.
TABLE II.
THE PARAMETER OF DC MOTOR DRIVE SYSTEM


Fig. 9 shows the phase current waveforms based on the
rotor position at 4000 rpm. The phase difference between Ia,
Ib and Ic is approximately 120
0
. The peak current value is
approximately 9 A for all Ia, Ib and Ic.

Fig. 9. Phase current waveforms based on the rotor position at 4000 rpm

Fig. 10 shows the dynamic responses of the
speed, torque and Imax, respectively. The reference value
of maximum current (Imax) is computed from the
generated constant torque reference.

Fig. 10. Speed of BLDC motor, Electromagnetic torque and maximum current
(Imax)

Fig. 11 shows the speed response for the FLC model
developed in Matlab. The speeds reach the desired value of
4000 rpm in 5ms.

Fig. 11. Speeds responce for FLC


Fig. 12 demonstrates the speed response for FLC on load
change that BLDC motor manage to set back to 4000 rpm
successfully when the load torque changes occurs either load
increased or decrease.
Armature resistance (Ra) 0.5
Armature inductance (La) 8 mH
Back e.m.f constant (K) 0.55 V/rad/s
Mechanical inertia (J) 0.0465 kg.m2
Friction coefficient (B) 0.004 N.m/rad/s
Rated armature current (Ia) 10 A
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Fig. 12. Speeds responce for FLC on load change
B. Experimental Results
A TMS320F2808 DSP and BLDC motor was used to
observe the speed response and the phase current waveforms.
Fig. 13 shows the experimental results for phase current
waveforms of the BLDC motor via an oscilocope when the
rotor speed is 4000 rpm. The phase difference between Ia, Ib
and Ic is approximately 120
0
and the value of the current
magnitude for Ia, Ia and Ic is about 9A.


Fig. 13. Phase current waveforms based on the rotor position at 4000 rpm
Fig. 14 shows the experimental results of speed of
BLDC motor, Electromagnetic torque and maximum current
(Imax) by CCStudio when the rotor speed is 4000 rpm.

Fig. 14. Speed of BLDC motor, Electromagnetic torque and maximum current
(Imax)
Fig. 15 shows the BLDC rotor position as indicated by the
Hall effect sensor outputs of the BLDC motor as observed on
an oscilloscope when the rotor speed is 4000 rpm. The phase
difference between the 3 waveforms is about 120
0
.

Fig. 15. Hall effects of BLDC motor

Fig. 16 shows the speed response of the BLDC motor for
the experimental set observed by Code Composer Studio
(CCStudio). The speed of the motor reached the desired value
or steady state at approximately 5ms. A very small value of
CCStudio overshoot and the experimental result, is about 50
rpm from the desired value.
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Fig. 16. Speed responce of BLDC motor


V. CONCLUSION
As a conclusion, the increasing demand for using fuzzy
logic as a controller for BLDC permanent magnet motor in
modern intelligent motion control of BLDC motors, both
simulation and experimental set-up have provided a good
dynamic performance of the fuzzy logic controller system.
The speed of the BLDC motor is detected by Hall-sensor ICs
accurately instead of the usual, expensive and complicated
encoder system. Besides, fuzzy reasoning algorithm designed
to control BLDC to get the optimum control under the
unstable rotor turning situation or sudden load change, the
proposed fuzzy logic controller system has a good adaptability
and strong robustness whenever the system is disturbed. The
simulation model which is implemented in a modular manner
under MATLAB environment allows dynamic characteristics
such as phase currents, rotor speed, and mechanical torque to
be effectively considered. The result paired with
Matlab/simulink is a good simulation tool for modeling
and analyzing fuzzy logic controlled brushless DC motor
drives. Besides, both simulated results and experimental
results shows very good agreement. Some of other adaptive
enhancements technique such as artificial neural networks or
neuro-fuzzy implementations could be use for future work.

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