BLDC MOTOTR

Brushless dc (BLDC) motor is preferred as small horsepower control motors due to their high
efficiency, silent operation, compact form, reliability, and low maintenance. The problems are
encountered in these motor for variable speed operation over last decades continuing technology
development in power semiconductors, microprocessors, adjustable speed drivers control schemes
and permanent-magnet brushless electric motor production have been combined to enable reliable,
cost-effective solution for a broad range of adjustable speed applications. The major appliances
include clothes washers room air conditioners, refrigerators, vacuum cleaners, freezers, etc.
Household appliance have traditionally relied on historical classic electric motor technologies such
as single phase AC induction, including split phase, capacitor-start, capacitorrun types, and
universal motor.
3.1 Principle of Brushless Linear DC (BLDC) Motor
Brushless DC electric motor (BLDC motors, BL motors) also known as electronically commutated
motors (ECMs, EC motors) are synchronous motor. Permanent magnet DC motors use mechanical
commutators and brushes to achieve the commutation. However, BLDC motors adopt Hall Effect
sensors in place of mechanical commutators and brushes. The stators of BLDC motors are the
coils, and the rotors are the permanent magnets. The stators develop the magnetic fields to make
the rotor rotating. Hall Effect sensors detect the rotor position as the commutating signals.
Therefore, BLDC motors use permanent magnets instead of coils in the armature and so do not
need brushes. In this paper, a three-phase and two-pole BLDC motor is studied. The speed of the
BLDC motor is controlled by means of a three-phase and half-bridge pulse-width modulation
(PWM) inverter. The dynamic characteristics of BLDC motors are similar to permanent magnet
DC motors.
3.2 Mathematical Modeling of BLDC Motor
Permanent magnet DC motors use mechanical commutators and brushes to achieve the
commutation. However, BLDC motors adopt Hall Effect sensors in place of mechanical
commutators and brushes [17]. The stators of BLDC motors are the coils, and the rotors are the
permanent magnets. The stators develop the magnetic fields to make the rotor rotating.
Hall Effect sensors detect the rotor position as the commutating signals. Therefore, BLDC motors
use permanent magnets instead of coils in the armature and so do not need brushes. In this paper,

a three-phase and two-pole BLDC motor is studied. The speed of the BLDC motor is controlled
by means of a three-phase and half-bridge pulse-width modulation (PWM) inverter. The dynamic
characteristics of BLDC motors are similar to permanent magnet DC motors. The characteristic
equations of BLDC motors can be represented as

di
Ri (t ) v em f (t )
dt
K b . (t )

v app (t ) L
v em f

T (t ) K i .i (t )
T (t ) J

d (t )
D. (t )
dt

where (t) is the applied voltage, (t) is the motor speed, L is the inductance of the stator, i(t)
is the current of the circuit, R is the resistance of the stator, (t) is the back electromotive
force, T is the torque of motor, D is the viscous coefficient, J is the moment of inertia, Kt is the
motor torque constant, and Kb is the back electromotive force constant.
Fig. 3.2(a) shows the block diagram of the BLDC motor. From the characteristic equations of the
BLDC motor, the transfer function of speed model is obtained. The parameters of the motor used
for simulation are as Follows
The Transfer Function of Linear BLDC Motor:

( s)
vapp ( s)

( s)
vapp ( s)

vapp
-

1
LS R

Kt
LJ .s 2 ( RJ LD) s K t .K s

275577.36
s 2 417.7 s 39490.17

Kt

Kb

1
JS D

Fig.3.2 (a) The block diagram of BLDC motor

Fig.3.2 (b) The Simulation diagram of linear BLDC motor

Overall transfer function of BLDC Motor without PID controller is

C (s)
G(s)

R( s) 1 G ( s) H ( s)

Fig.3.2 (c) The Simulation Model of BLDC Motor without PID Controller

Result of Linear BLDC Motor system without PID Controller

Fig.3.2(d) The Step Response of BLDC Motor without PID Controller

Table 3.1
Parameters of the Motor
PARAMETERS

Values and units

21.2

0.1433 Vs 1

1*10-4Kg-m s/ rad

0.052 H

Kt

0.1433 Kg-m/A

1*10-5Kgm 2 /rad

Step Response Characteristics of BLDC Motor without PID Controller

Rise Time

0.0026

Settling Time

0.019

Overshoot

28.3691

Steady state Error

0.5334

3.3 PARTICLE SWARM OPTIMIZATION

PSO is an easy & smart artificial techniques and a evolutionary computation technique which is
developed by Kennedy & Eberhart [13] Particle Swarm optimization method is a computational
method that is used to optimize a problem by iteratively trying to improve a solution with regard
to a given measure of quality.PSO optimizes a problem by having a population of candidate
solutions, here particles , and moving these particles around in the search- space according to
simple mathematical formulae over the particles position and velocity. Each particles movement
is influenced by its local best known position and is also guided toward the best known positions
in the search-space, which are updated as better positions are found by other particles. This is
expected to move the swarm toward the best solutions.
It is used to explore the search space of a given problem to find the settings or parameters required
to optimize a particular objective. It is based on following two concepts: (i) The idea of swarm
intelligence based on the observation of swarming habits by certain kinds of animals (such as birds
and fish), (ii) The field of evolutionary computation .The assumption is basic of PSO [16]. For nvariables optimization problem a flock of particles are put into the n-dimensional search space
with randomly chosen velocities and positions knowing their best values, so far ( ) and the
position in the n-dimensional space. The velocity of each particle, adjusted accordingly to its own
experience and the other particles flying experience.

3.3.1 PARAMETER SELECTION

Performance shows how a simple PSO variant performs in aggregate on several benchmark
problems when varying two PSO parameters. The choices of PSO parameters can have a large
impact on optimization performance. Selecting PSO parameters that yield good performance has
therefore been the subject of much research.
Basically, it can be imagined that the function which is to be minimized forms a hyper-surface of
dimensionality same as that of the parameters to be optimized (search variables). It is then obvious
that the 'ruggedness' of this hyper-surface depends on the particular problem. Now, how good the
search is depends on how extensive it is, which is decided by the parameters. Whereas a 'lesser
rugged' solution hyper-surface would need fewer particles and lesser iterations, a 'more rugged'
one would require a more thorough search- using more individuals and iterations. This is analogous
to another realistic situation of flocks searching for a good 'food' traversing a very difficult terrain
containing gardens all over, some better than others where a huge flock would be required in order
to reach the best (read global optimum) 'food' source, compared to another terrain where there are
very few gardens on an otherwise non-vegetated land, where it becomes easy to search for 'food'
and lesser number of individuals and iterations will suffice. The PSO parameters can also be tuned
by using another overlaying optimizer, a concept known as meta-optimization. Parameters have
also been tuned for various optimization scenarios. The particles in the swarm are the individual
elements in the swarm responsible for moving to there personal best values (pbest) and the swarms
best values (gbest) all the while continually searching their current position to monitor for better
values than what the individual has. The individuals position is the location given a specific
boundary for which to search in. Evaluation of the position is performed through a fitness function
that returns the optimal solution.
I) Number of particles The number of particles was assigned to 100 with the intent that this would
allow for a large number of individual elements to better explore and converge on the optimal PID
gains. Research by Robinson and Carliel suggest that the higher number of particles gives an
improved exploration for optimal values when compared to the number of particles at 20 or 30.
The compromise between the higher number is that the higher values takes longer to compute than
at 20 or 30 particles.
II) PID search space In order to find the optimal values for the proportional, integral, and derivate
elements, three ranges were established based upon the output from the WSDK ACF tuning. It

Provide an effective window to perform a search that would be similar to the PID values found
using the WSDK ACF tuning method. The search space also establishes the boundaries to which
the fitness function is to be evaluated.
III) Fitness function The pbest and gbest are initial assigned random values in the search space.
For each iteration, The pbest and gbest values are compared to the current location. If the current
location has better optimized values than the current pbest/gbest values, the fitness function returns
a numerical value that is used to evaluate a new velocity and the new values replace the old
pbest/gbest values.
IV) Number of trials The number of trials was set to 50 iterations for each particle. This number
was established to give each particle an opportunity to successfully find optimal PID values over
multiple trials. put more emphasis on the activities of pbest and gbest.
VI) C1 & C2 values The social factors of C1 and C2 determine the amount of emphases the particles
velocity is affected by pbest/gbest. C1 is set to 1 and C2 is set to 2 thus putting more emphases on
gbest.
VII) Velocity In order for the velocity (Vn) to be calculated, the fitness functions of pbest and gbest
needed to be evaluated. The rand() element in the equation provides the function a sense of natural
behavior found in nature.
= + 1 ()( ) + 2 ()( )

(1)

VIII) Movement The movement of the particle is accomplished by adding the new velocity to the
current location.
Xn = Xn + t *Vnnew

3.3.2 Algorithm for PSO

A basic thing of the PSO algorithm works by having a population (called a swarm) of particles).
These particles are moved around in the search-space according to a simple formula. The
movements of the particles are guided by their own best known position in the search-space as
well as the entire swarm's best known position. When improved positions are being discovered

these will then come to guide the movements of the swarm. The process is repeated and by doing
so it is hoped, but not guaranteed, that a satisfactory solution will eventually be discovered.
Formally, let f: n is the cost function which must be minimized. The function takes a
candidate solution as argument in the form of a vector of real numbers and produces a real number
as output which indicates the objective function value of the given candidate solution. The gradient
of f is not known. The goal is to find a solution a for which f(a) f(b) for all b in the search-space,
which would mean a is the global minimum. Maximization can be performed by considering the
function h = -f instead.
Let S be the number of particles in the swarm, each having a position xi n in the search-space
and a velocity vi n. Let pi be the best known position of particle i and let g be the best known
position of the entire swarm. A basic PSO algorithm is then:
=(1 ,2 ,3 .. )
in the d-dimensional space, the best previous positions of the particle is represented as:
= ( ,1, ,2, ,3 , )
The index of the best particle among the group is . Velocity of the particle is represented
as:
= (,1,,2 ,3 ., )
The updated velocity and the distance from , to , is given as [13]:

vi(,tm1) w.vi(,tm) c1 * rand () * ( P besti,m xm(t ) ) c2 * rand () * g besti,m xi(,tm) )

(2)

xi(,tm1) xm(t ) vm(t 1)

(3)

i= 1, 2........, n
m= 1, 2,..........,d
n

Number of particles in the group

Dimension

Pointer of iterations (generations)

()

Velocity of particle I at iteration t

Inertia weight factor

1,2

Acceleration constant

rand()

Random number between 0 and 1

()

Current position of particle i at iterations

Best previous position of the ith particle

Best particle among all the particles in the Population

3.2.3 Algorithmic Approach for specified Design

In BLDC motor case, we design the PID controller in PSO frame as given. We consider the three
dimensional search spaces like , & . We take the fitness function based on time domain
characteristics. We take number of iterations based on expected parameters and time of
computation. The fitness function is defined as:

W ( K ) (1 exp( ) * (M P Ess ) (exp( )) * (t s t r )

(4)

3.4 Implementation of PSO-PID for BLDC motor

In This dissertation a time domain criterion is used for evaluating the PID Controller. A set of good
control parameters P, I and D Can yield a good step response that will result in performance criteria
minimization in the time domain .These performance criteria in the time domain include the
overshoot, rise time, Settling time, and steady state error [13]. Therefore, the performance criterion
is defined as follows:

W ( K ) (1 exp( ) * (M P Ess ) (exp( )) * (t s t r )

(5)

Where K is [P, I, D] and is weightening factor. The performance criterion W(K) can satisfy the
designer requirement using the weightening factor value. can set to be larger than 0.5 to reduce
the overshoot and steady state error, also can set smaller 0.5 to reduce the rise time and settling
time. The optimum selection of depends on the designers requirement and the characteristics of
the plant under control. In BLDC motor speed control system the lower would lead to more
optimum responses. In this paper, due to trial, is set to be 0.5 to optimum the step response of
speed control system.
The fitness function is reciprocal of the performance criterion, in the other words,
f

1
W (K )

A PSO-PID controller is used to find the optimal values of BLDC speed control system.

Block diagram of optimal PID control for the BLDC motor

Fig3.4(a) optimal PSO-PID control for BLDC Motor

In the proposed PSO method each particle contains three members P, I and D. It means that the
search space has three dimension and particles must fly in a three dimensional space.
The flow chart of PSO-PID controller is shown in Figure shows implementation of particle swarm
optimization technique for PID controller tuning for a control system.

Start

Initial Population

Run the BLDC control system model for set of parameters

Calculate the , , , of models step response

Calculate the fitness function

Calculate the & of population

No

Yes

Fig.3.4 (b) Flowchart of PSO-PID control system

Particle Swarm has two primary operators: Velocity update and Position update. During each
generation each particle is accelerated toward the particles previous best position and the global
best position. At each iterations a new velocity value for each particle is calculated based on its
current velocity, the distance from its previous best position, and the distance from the global best
position. The new velocity value is then used to calculate the next position of the particle in the
search space. This process is then iterated a set number of times or until a minimum error is
achieved.

How does it work?

Uses a number of agents (particles) that constitute a swarm moving around in the search
space looking for the best solution
Each particle in search space adjusts its flying according to its own flying experience as
well as the flying experience of other particles
The particles fly through the problem space by following the current optimum particles.
A swarm is an apparently disorganized collection (population) of moving individuals
that tend to cluster together while each individual seems to be moving in a random
direction.

3.5 Advantages of PSO

(1) PSO is a swarm intelligence technique which is easy to implement & evolutionary
computation technique.

(2) There are few parameters in PSO which requires the adjustment.
(3) PSO is based on the artificial intelligence. It can be applied into both scientific research
uses.
(4) PSO has no more mathematical calculations. The search can be carried out by the
Speed of the particle.
(5) Faster convergence.
(6) Less parameter to tune.
(7) Easier searching in very large problem spaces.

3.6 PSO APPLICATIONS

The first practical application of PSO was in neural network by Kennedy and Eberhart 1995. In
many areas PSO method is used which includes control problems, telecommunications, power
system, data mining, designing, optimization, signal processing, biomedical, antenna, electronics
and electromagnetic, fuzzy and neurofuzzy, graphics and visualization.
In Antennas applications include the optimal control and design of phased arrays, broadband
antenna design and modeling, array failure correction, corrugated horn antennas, optimization
[27,28,29].
In Biomedical and pharmaceutical applications include human tremor analysis for the diagnosis of
Parkinsons disease, inference of gene regulatory networks, human movement biomechanics
optimization, phylogenetic tree reconstruction, cancer classification[30] and survival prediction,
DNA motif detection, gene clustering, identification of transcription factor binding sites in DNA,
biomarker selection, protein structure prediction and docking, drug design, radiotherapy planning,
analysis of brain magneto encephalography data, RNA secondary structure determination,
electroencephalogram analysis, biometrics[31].
In Communication networks applications include Bluetooth networks, autotuning for universal
mobile telecommunication system networks, optimal equipment placement in mobile
communication, routing, radar networks, wavelength division multiplexed network, peer-to-peer
networks, TCP network control, bandwidth and channel allocation, WDM
Telecommunication networks, wireless networks, grouped and delayed broadcasting, bandwidth
reservation.

In control Application areas include automatic generation control tuning, design of controllers,
traffic flow control, adaptive inverse control, predictive control, PI and PID controllers [21], strip
flatness control, ultrasonic motor control, power plants and systems
control [26, 27], control of chaotic systems, process control, adaptive PMD compensation in WDM
networks, fractional order controllers, combustion control, inertia system control,
automatic landing control.