2 - MT - PSmarkup 374144 389528 1 TM TM MF Chapter 3 - Methodology Revised

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[29] (9 matches, 1.3%) from https://www.rroij.com/open-access/compar...atch-antennaa-review-paper.php?aid=4
[30] (9 matches, 1.5%) from www.rdi.rmutsb.ac.th/2011/digipro/isft2016/content/papers/Paper 49.pdf
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[32] (7 matches, 1.3%) from www.hrpub.org/download/201310/ujeee.2013.010302.pdf
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[35] (4 matches, 1.4%) from bmet.wikia.com/wiki/PID_Controller
[36] (3 matches, 1.1%) from www.academia.edu/9857731/fuzzy_logic
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[39] (6 matches, 0.9%) from https://documents.mx/documents/paper-55844e71c60cc.html
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=====================1/21======================
CHAPTER 3
METHODOLOGY
3.[0] [1] [2] 1 Introduction

We are well aware that in todays scenario research methods had undergone a
tremendous change, how researchers identify a problem and then gathering information to
find a proper solution in this challenging environment which also acts as a motivation for
them in the entire process.[92] [98] In this project, we are going to see how a Brushless DC (BLDC)
Motor speed can be controlled using the Fuzzy PID logic in a more efficient way.[1] [2] [0] Before
that we will be comparing the conventional PID control with that of the Fuzzy PID to know
why we need to go for this Fuzzy PID.[0]
BLDC Motor are used widely for industrial application but the speed of such BLDC
motor when controlled with Fuzzy based PID has better speed response than the
conventional PID controller which offers better response for changing load and hence takes
longer settling time.[0] [1] [2]
Figure 3.1: Block diagram for speed control of Brushless DC motor based on Fuzzy logic
PID Controller
DC Supply
Inverter
BLDC Motor
Hall Effect
Sensor
Reference Speed
Fuzzy + PID
Controller
Pulse Generator
+
-
=====================2/21======================
The block diagram shown in Figure 3.[1] [2] [15] [41] ...1 is about the speed control of the BLDC
motor using the Fuzzy based PID controller.[1] [2] [15] [41] ... The Dc supply is given to the inverter which
in turn acts as the input to the BLDC motor.[15] [1] [2] Here we have the Hall effect sensor which
determines the rotor position of the BLDC motor and the output from that is fed to the
pulse generator.[1] [15] [2] [62] ... The speed of the BLDC is compared with that of the reference speed and
the error in speed is fed to the Fuzzy based PID controller which then acts as the input to
the pulse generator and the pulse is given as the input for the triggering circuit of the
BLDC motor.[15] [1] [62] [2] ...
In this chapter we will see about the structure of the BLDC motor, then the
modelling and the parameters associated with it in order to model a trapezoidal back EMF
of BLDC motor.[1] [2] [15] We will then see how the conventional PID controller was used and why
there was a need to replace the conventional PID with the proposed fuzzy based PID
controller.[93] At last we will see about the structure of the fuzzy logic control along with the
design steps for fuzzy logic control along with the Fuzzy logic editor interface tool box in
MAT lab simulation.[1] [2] [5] [20] ... The block diagram for the speed control of BLDC motor drive system
using the Gaussian fuzzy logic controller is as shown in the Figure 3.[1] [2] [5] [21] ...2.
Figure 3.2: The block diagram of speed control using Gaussian fuzzy logic controller for
BLDC motor drive system.[1] [2]
3.2 System structure

3.2.1 Structure of BLDC Motor
With constant excitation, the speed and torque characteristic of BLDC is similar to
that of the shunt wound brushed DC motor.[1] In the case of brushed motor, the magnets
presents in the rotor which passes through the stator poles creates a trapezoidal back EMF
in the windings of the stator.[11] [2] [14] [1] ... Usually the trapezoidal shape flux wave is created with a three
phase stepped waveforms with positive and negative going pulses of 120 degree duration.[1] [2] [11] [30] ...
Gaussian Fuzzy
Logic Controller
Brushless DC
Motor
Reference
Speed
Output
=====================3/21======================
BLDC motor is not a pure DC motor, just a DC pulse is given as input to the stator
winding so that a magnetic field is created in the rotor by operating at the synchronous
speed.[1] [2] [11] [14] ... As we can see in the figure 3.3 shown below where pole pair A is first fed with a
DC pulse which then magnetizes pole A1 as a South Pole and A2 as a North Pole thus
making the magnet to be in the initial position.[1] [2] [11] [14] ... When the magnet is passed through the first
magnetized pole pair we can see that the current in the pole pair A is switched off and the
next pole pair B is given with a similar DC pulse as that of pole pair.[1] [2] [11] [16] ... Later the magnet can
be seen rotating in the clockwise direction to align itself with that of the pole pair B.[1] [2] [11] [14] ... The
pulsated stator pole pairs which are in sequence with that of the magnet will continue to
rotate clockwise in order to keep itself aligned with that of the energized pole pair.[1] [14] [11] [16] ...
Figure 3.3: Cross sectional view of BLDC motor after disassembling.[1] [2] .
Since this is a brushless DC motor, instead of brush commentators to generate the

rotating magnetic field, a six step inverter is used to generate the three phase supply and the
electronic commutation between the three pole pairs of stator coils.[1] [2] [11] [14] ... At a time, only two out
the three ple pairs are energized.[1] The pulse frequency and the torque by the pulse current
controls the speed of the rotor of the BLDC motor.[1] [2] [11] [14] ...
When we comes towards the inverter current pulses, they are triggered in a closed
loop system by a signal which represents the instantaneous angular position of the rotor.[1] [11] [14] [15] ...
Here it is to be noted that the frequency of the power supply is always controlled by the
motor speed.[33] [1] [2] [11] ... The position of the rotor can be determined by the Hall Effect sensor which is
cascaded into the stator which also provides electrical signal representing the magnetic field
strength.[15] [1] [2] [11] ... This electrical signal amplitude or voltage changes accordingly when the magnetic
rotor passes over the sensor.[1] [2] [11] [14] ... The voltage control and the speed control which is associated
with that of current and voltage waveforms superimposed on the circuits is shown in the
Figure 3.[1] [15] [2] [30] ...4.
=====================4/21======================
Figure 3.4: Voltage control & Speed control associated with current and voltage waveforms
superimposed on the circuits.[1] [2] [15] [30] ...
3.2.2 Modelling of a BLDC motor
Based on the assumption for simplification and accuracy, the analysis of the BLDC
is done.[1] [2] [5] Since the BLDC motor is an unsaturated type of motor, the self and mutual
inductance are constant for all the winding whereas the stator resistances are equal.[1] [2] [5] Power
electronics or semiconductor devices encompassed inside the inverter are ideal having
negligible iron losses.[1] [2] The back-EMF wave-forms associated with each and every phases are
equal.[1] [2] Hence considering the equivalent circuit of BLDC motor and VSI system as shown in
the Figure 3.[1] [2] [5] 4 and the assumptions, the dynamic equations of the BLDC motor can be
derived as shown below.[1] [2] [65] [69] ...
V
a
= RI
a
+ (L M)
+e
a
(3.1)
V
b
= RI
b
+ (L M)
+e
b
(3.2)
V
c
= RI
c
+ (L M)
+e
c
(3.3)
Where
V
a
,V
b
,V
c
= Stator phase voltages across phase A, B & C respectively.[1]
i
a
,i
b
,i
c
= Stator phase current across phase A, B, C respectively.[1]
e
a
,e
b
,e
c
= Phase back EMF across phase A, B, C respectively.[1] [15]
L = Self inductance of the BLDC motor.[1] [97] [103] [5] ...
M = Mutual inductance of the BLDC motor.[1]
R = Phase resistance.[1]
=====================5/21======================
Now the motion is defined as:[1] [67] -
=(
2
) (T
e
T
L
- B
r
) (3.4)
=
r
(3.5)
Where
T
e
= The electromagnetic torque
T
L
= Load torque (Nm)
J = Moment of inertia (kgm
2
)
B = Friction coefficient (Nms/rad)
m
= Rotor speed in mechanical (rad/s)
r
= Rotor speed in electrical (rad/s)
3.[1] [67] [99] [21] ...2.3 Modelling of a Trapezoidal Back EMF of BLDC motor
Since the rotor position has to be calculated based on the operation speed, the
trapezoidal back-EMF wave forms are modelled as a function of the rotor position.[1] [2] [46] [22] ... So the
back EMF can be expressed as a function of rotor position (
r
) as shown below.[1] [46] [22] [32] ...
e
abc
=f
abc
(
r
) x E (3.6)
E=k
e
r
(3.7)
Where
(k
e
) is back-EMF constant,
f
abc
(
r
) are the function of rotor position.[1] [46]
=====================6/21======================
Figure 3.5: Trapezoidal back-EMF and phase current waveforms of BLDC motor drive
Figure 3.[1] [2] 5 shows the trapezoidal back-EMF which is depicted as a function of rotor
position and has the amplitude.[1] [2] The expression of the back-EMF based on the rotor position
can be generated as shown in equation (3.[1] [78] [2] [46] ...8), (3.9) and (3.10) which are named as
trapezoidal
shape functions with limit values between +1 and -1
fa(r) = (3.[1] 8)
(
6
(0
r
6
)
1
(
6

r
5
6
)
-
(
6
r
+6
(5
r
7
6
)
-1
(7
r
11
6
)
(
6
r
12
(11
r
2 )
=====================7/21======================
fb(r) = (3.[1] 9)
fc(r) =
(3.10)
The electromagnetic torque is defined by using back-EMFs as follows

T
a
=
(3.[1] 11)
T
b
=
(3.[72] 12)
T
c
=
(3.13)
-1
(0
r
6
)
(
6
r
4
(
r
5
6
)
1
(5
r
7
6
)
-
(
6
r
+ 10
(7
r
11
6
)
-1
(11
r
2 )
1
(0
r
6
)
-
(
6
r
+2
(
r
5
6
)
-1
(5
r
7
6
)
(
6
r
8
(7
r
11
6
)
1
(11
r
2 )
=====================8/21======================
3.[1] [72] 2.4 Conventional Controller
The classical or conventional controllers like the Proportional Integral (PI) controller
or Proportional Integral Derivative (PID) controllers are mostly used in process industries
because of their simple structure which are easy to operate and it also assures acceptable
performance for most of the industrial applications.[0] [3] [4] [1] ... The only drawback is that they give
better performance only for a particular operating range and if we want to change the
operating range then it has to be retuned.[0] [3] [4] [1] ... Meanwhile when we consider the nonlinear and
dead time processes then the conventional controller performance is not up to the expected
level.[0] [3] [4] [1] ... In the present rapidly changing industrial scenario because of the development in
science and technology, most of us prefer to have automatic control not compromising on its
performance over a wide operating range but must also have simple design and
implementation.[0] [3] [4] [15] ... In this chapter we will be discussing about the conventional Proportional-
Integral-Derivative (PID) controller first and then move towards the Fuzzy based PID
control towards the speed control of the BLDC motor.[1] [41]
3.2.4 PID Controller
Usually most of the PID controllers are characterised based on the simple structure
and simple design procedures.[3] [4] [0] Because of its good control performance they are widely used
in industrial applications, but in most of the cases we need to have wide operating range and
hence the parameters has to be varied accordingly to our requirement or in certain cases
when disturbances are present then it becomes difficult for the conventional PID controller
and hence fuzzy logic controller (FLC) will be a better choice for us.[0] [3] [4] [29] ...
This PID controller is preferred over the PI controller because it is a universal

controller which can be used in the field of material processing.[0] [3] [4] [29] ... Since PID controller have
suitable feedbacks they are mostly used when comparing with other practical controllers
which usually requires more than one operational amplifier (OPAMP).[0] [29]
In most of the industrial control systems, the widely used one is generic control loop
feedback mechanism (controllers).[3] [4] [22] [0] ... The reason why PID controller is preferred is because it
calculates an error value as the difference between a measured process variable which is the
speed of the BLDC motor here and a desired set point which is the reference speed in our
case.[0] [3] [24] [22] ... The PID controller here is used to minimize the error by adjusting the process control
inputs.[3] [4] [20] [24] ...
=====================9/21======================
The PID controller calculation (algorithm) involves three separate constant
parameters namely the proportional, the integral and derivative values denoted as P, I, and D
respectively.[0] [3] [20] [24] ... The block diagram for the same is as shown below.[21] [1] [5]
Figure 3.6: Block diagram of PID controller.[0] [32] [70] [3] ...
The three components that are seen in this PID controller can be set externally.[0] [3] [4] [20] ... Each
of the three components performs one of the controllers tasks which are as follows:[0] [3] [4] [73] ...
i. The P part does the task of proportional sensitivity K
p
.
ii. The I part does the task of integral action time T
n
.
iii. The D part does the task of derivative action time T
v
.[0] [3] [4]
The derivative part, D of the controller reacts even in the case of slow changes that
take place at its input.[0] [3] [4] [80] ... The proportional part, P looks after the medium amplification whereas
the Integral part, I help the controller to operate accurately without control difference.[0] [3] [4] Here
since the three component overlap, it is difficult for individual controller parameters from
the jump reply or rise reply.[0] [3] [4]
According to the present criteria, these PID controllers are usually tuned using hand
tuning or Ziegler-Nichols methods in order to obtain the desired performance.[0] [3] [4] [80] ...PID controller
is the basic continuous feedback control used in most of the industrial applications.[3] [4] [0] [30] ... Even
though the conventional or classical PID controller exhibits good performance, it is not
adaptive enough.[3] [0] [4] (Oyas & Nordin, 2008).[0]
=====================10/21======================
3.3 Design steps for Fuzzy Logic Controller
In the fuzzy logic control system design, one of the most important aspect is the
process of converting the measured input which is said to be the crisp values into a fuzzy
linguistic values that are used by the fuzzy reasoning mechanism.[0] [2] [3] [4] ... Fuzzy logic control is used
as a supplementary in order to enhance the existing conventional control system when the
conditions changes.[0] [2] [40] [3] ... The process of reasoning mechanism that mostly performs the fuzzy
logic operations results in the action according to the fuzzy inputs.[0] [40] [29] [1] ... In order to achieve the
control goal we need a collection of the expert control rules which are known as knowledge.[0] [60] [40] [64] ...
The table 3.1 shows us the control rules of fuzzy logic controller.[0] [3] [40] [1] ...
E
DE
NL
NM
NS
ZR
PS
PM
PL
NL
NL
NL
NL
NM
NS
NS
ZR
NM
NL
NL
NM
NS
NS
ZR
PS
NS
NL
NM
NS
NS
ZR
PS
PM
ZR
NM
NM
NS
ZR
PS
PM
PM
PS
NM
NS
ZR
PS
PS
PM
PL
PM
NS
ZR
PS
PS
PM
PL
PL
PL
ZR
PS
PS
PM
PL
PL
PL
Table 3.1: Control rules for Fuzzy Logic Controller
3.[0] 3.1 Structure of Fuzzy Logic Controller (FLC)
The Fuzzy Logic Controller (FLC) has three basic components namely the
inout signal which is known as fuzzification, a fuzzy engine and the output signal which is
the defuzzification.[0] [3] [4] [7] ... The function of the fuzzification block is to convert the continuous
input signal into a linguistic fuzzy variable.[66] [75] [52] [17] ... On the other hand the fuzzy engine is used to
handle the inference where human experience can easily be injected through linguistic rules.[3] [4] [0] [63] ...
The defuzzification block again converts the fuzzy control actions to continuous (crisp)
signals which can be applied to the physical plant.[0] [3] [4] [52] ... The knowledge base consists of fuzzy
sets that are defined on the interval of the inputs and outputs
of the Fuzzy Logic Controller
and it also has rule base which is basically constructed from fuzzy implication.[3] [0] [4] [17] ...
=====================11/21======================
Figure 3.7: Typical configuration of a fuzzy logic controller
The error and the error change for both the position and the time are scaled using the
appropriate scaling factors.[0] [3] [4] [17] ... After that these scaled input variables are converted to linguistic
variable which will be viewed as labels of fuzzy sets.[3] [4] [95] [100] ...
3.3.1.1 Preprocessing
The inputs are most often hard or crisp (continuos signals) measurement from some
measuring equipment rather than linguistic.[0] [6] [7] [8] ...
3.3.1.2 Fuzzification
From the block diagram shown in fig. 3.7, we can see that the first block inside the
controller which is the fuzzification is used for converting the input data to degrees of
membership by a lookup in one or several membership function.[0] [8] [9] ... This block of fuzzification
normally matches the crisp input data with the conditions of the rules to determine the
linguistic variable which is needed to trigger the gate pulse in this project.[0] [5] [6] [7] ...
Fuzzification is the process of converting a crisp continuous input data into a fuzzy
set which is the linguistic variables.[0] [34] [58] [5] ... Before that process takes place we need to know the
definition for linguistic variables.[13] [9] Linguistic variables are the input or output variables of
the system whose values are words or sentences from a natural language and they dont
comprise of numerical values.[1] [2] [48] [68] ... Generally these linguistic variables are decomposed into
some assets of linguistic terms.[0] [6] [12] [1] ...
Knowledge base
Fuzzy Rule Inference
Fuzzification
Defuzzification
Physical Plant
u
e, e
=====================12/21======================
There are various types of shapes of the membership function which are associated
with Fuzzy Logic such as triangular, trapezoidal, Gaussian, rectangular and generalized bell
shapes.[1] [2] [0] [12] ... The most popular membership function used by many applications is the triangular
which we are using in this project.[1] [2] Apart from that the rectangular and Gaussian shaped
membership function are also used in this project.[1] [2] [8] [9] ... Figure 3.8 to Figure 3.11 shows the
different types of membership function shape.[1] [2]
Figure 3.8: Triangular membership function shape
The triangular membership function equation can be defined as follows:[1]
( ; , , ) = (3.14)
0,
xa
,
axb
,
bxc
0,
cx
=====================13/21======================
Figure 3.9: Trapezoidal membership function shape
The trapezoidal membership function equation can be defined as follows:[1]
apezoid ( ; , , ) = (3.15)
Figure 3.10: Gaussian membership function shape
0,
xa
,
axb
1,
bxc

,
cxd
0,
dx
=====================14/21======================
The Gaussian membership function equation can be defined as follows:
(;,)={
1
2
(
)2
(3.16)
Figure 3.11: Generalized bell membership function shape
The generalized bell membership function equation can be defined as follows:[1]
(;,,)=
1
1+
2b
(3.17)
3.3.1.3 Rule Base
Rule base is defined as the collection of rules.[6] [0] [5] [7] ... Generally the rules are in "[6] [29] [104] [0] ...If
Then"
format where the If side is called conditions and the Then side is called the conclusion.[5] [6] [7] [8] ...
Depending on the measured input error (e) and the change of error (e), the computer will
execute the rules and also compute a control signal.[0] [13] [6] [12] ... A rule base controller is easy to
understand and easy to maintain for non-specialist end user or a layman and an equivalent
controller could be implemented using conventional techniques.[0] [6] [7] [8] ...
=====================15/21======================
3.3.1.4 Defuzzification
Defuzzification as the name indicates does the opposite of fuzzification which

means when all the actions that have been activated, it is then later combined and converted
into a single non-fuzzy output signal which is the control signal of the system.[0] [6] [5] [7] ... The output
levels are depending on the rules that the systems have and the positions depending on the
non-linearitys existing to the system.[7] [13] [17] [18] ... In order to achieve the result we have to develop the
control curve of the system representing the input/output relation of the system and based
on that information, we define the output degree of the membership function with the aim
to minimize the effect of non-linearity.[6] [0] [5] [7] ...
3.3.1.5 Postprocessing
The post processing block always contains an output gain that can be tuned and also
become as an integrator
3.[7] [8] [9] ...3.2 Fuzzy Logic Toolbox
There are five primary graphical user interface (GUI) tools for building, editing
and observing fuzzy inference systems in the toolbox:[0] [53] [29] [81] ...
i. Fuzzy Inference System (FIS) editor
ii.[0] [39] [53] Membership Function editor
iii.[0] [44] Rule Editor
iv.[0] Rule Viewer
v.[0] Surface Viewer
These GUI are dynamically linked and if the changes make to the FIS to one of the
toolbox, the effect can be seen in other GUIs.[0] [44]
=====================16/21======================
3.3.2.1 Fuzzy Inference System (FIS) editor
The FIS editor handles the high level issues of the system.[0] [39] Fuzzy Logic toolbox
does not limit the FIS editor displays general information about fuzzy inference system.[0]
There is a simple diagram at the top shows the name of each input variable on the left
and the output on the right.[0] FIS editor can be open as steps shown below:[0]
Step 1: Type fuzzy at MATLAB prompt and enter
.[0]
Figure 3.12: MATLAB prompt
Step 2: Select Edit to Add Variable.[0] Input can be added to more than one.[0] [84]
Figure 3.13: Edit section in FIS Editor
=====================17/21======================
Step 3: Click input 1 (yellow box and highlighted with red outline)
Figure 3.[0] 14: Input 1 in FIS Editor
Step 4:[0] Click input 2 (yellow box and highlighted with red outline)
Figure 3.[0] 15: Input 2 in FIS Editor
Input 1
Input 2
=====================18/21======================
Step 5:[0] Click output (green box and highlighted with red outline)
Figure 3.[0] 16: Output 1 in FIS Editor
Step 6:[0] Click File, Export and To Workspace
Figure 3.[0] 17: File section for Export to Workspace in FIS Editor
Output 2
=====================19/21======================
Figure 3.[0] 18: Save current FIS to workspace
3.[0] 4 Matlab simulink design
Figure 3.19: Simulation diagram for speed control of BLDCM using Fuzzy PID Controller.[1] [2] [7] [20] ...
=====================20/21======================
The simulation model for the speed control of the BLDC motor using the Fuzzy
PID controller is as shown in the Figure 3.[1] [21] [20] [7] ...19. In the model we are taking the reference
speed to be 2500 rpm and there is a Fuzzy controller which does the function of
Proportional (P), Integral (I) and the Derivative (D).[21] [5] For the Inverter circuit we have the
MOSFET switch and the triggering pulse for the gate is given from the Gate block after the
output signals of the BLDC motor is given to the decoder before it is fed to the gate block.[33] [5] [15] [21] ...
The stator current, rotor speed and the Electromagnetic torque is also measured for the
motor for using various membership functions like the Gaussian, trapezoidal, triangular
and rectangular shapes.[5] The results are discussed in the next chapter.[21]
Figure 3.20: Entity Gate Block for the simulink model.
In the Simulation diagram we have the gate block which is taken from the
SimEvent library. The simulation for the speed control is a discrete-event system and
hence the entity gate block is used for signal routing for the simulink model.[41] [45] [94] The output
entity of the gate block is not fixed, but it lets the control signal to go through as an output
based on selected operating mode either to enable gate or release the gate for the ON and
OFF operations of the motor respectively.[91]
=====================21/21======================
Figure 3.21: Entity Decoder Block for the simulink model.
The decoder block along with the truth table is as shown int he Figure 3.21. The
result and discussion on this simulation for the speed control of BLDC motor is discussed
in the next chapter where we will see the different outputs for various membership
functions.[21] [45] [1] [2] ...

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[0] (79 matches, 29.3%) from eprints.uthm.edu.my/4732/1/NUR_ILLYANA_ALI.pdf

3.[0] [1] [2] 1 Introduction

3.2 System structure

Since this is a brushless DC motor, instead of brush commentators to generate the

3.2.2 Modelling of a BLDC motor

Now the motion is defined as:[1] [67] -

The electromagnetic torque is defined by using back-EMFs as follows

3.[1] [72] 2.4 Conventional Controller

3.2.4 PID Controller

This PID controller is preferred over the PI controller because it is a universal

Table 3.1: Control rules for Fuzzy Logic Controller

3.[0] 3.1 Structure of Fuzzy Logic Controller (FLC)

Figure 3.8: Triangular membership function shape

The triangular membership function equation can be defined as follows:[1]

Figure 3.9: Trapezoidal membership function shape

The trapezoidal membership function equation can be defined as follows:[1]

Figure 3.10: Gaussian membership function shape

The Gaussian membership function equation can be defined as follows:

Figure 3.11: Generalized bell membership function shape

The generalized bell membership function equation can be defined as follows:[1]

Defuzzification as the name indicates does the opposite of fuzzification which

3.[7] [8] [9] ...3.2 Fuzzy Logic Toolbox

3.3.2.1 Fuzzy Inference System (FIS) editor

Step 1: Type fuzzy at MATLAB prompt and enter

Figure 3.12: MATLAB prompt

Figure 3.13: Edit section in FIS Editor

Figure 3.[0] 15: Input 2 in FIS Editor

Figure 3.[0] 16: Output 1 in FIS Editor

Step 6:[0] Click File, Export and To Workspace

Figure 3.[0] 18: Save current FIS to workspace

3.[0] 4 Matlab simulink design

Figure 3.20: Entity Gate Block for the simulink model.

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