"Manipulation of BLDC Motor by PID Controller"

A Report Submitted to
GEC BILASPUR (C.G.)

CHHATTISGARH SWAMI VEVEKANAND TECHNICAL

UNIVERSITY BHILAI, (C.G.), INDIA

In partial fulfilment for the award of the degree of

Bachelor of Technology

ELECTRICAL ENGINEERING
By

MRITYUNJAY KAR (Roll No. 300702421024)

TULESHWAR (Roll No. 300702421003)
PINKY KUNJAM (Roll No. 300702421030)
BHUPESHWAR KUMAR RANA (Roll No. 300702421010)
Under the Guidance of

PROF. UMA RATHORE

(ASSISTANT PROFESSOR)

Department of Electrical Engineering

GOVERNMENT ENGINEERING COLLEGE BILASPUR
Koni, Bilaspur, C.G.
 Session: 2023-24

DECLERATION BY THE CANDIDATES

We the undersigned solemnly declare that the report of the project work entitled
"Speed Control of BLDC Motor by PID Controller" is based on our own work
carried out during our study under the supervision of Asst. Prof. Uma
Rathore.

We assert that the statements made and conclusions drawn are an outcome
of the project work. We further declare that to the best of our knowledge and
belief that the report does not contain any part of any work which has been
submitted for the award of any other degree/diploma/certificate in this University
of any other

University.

BHUPESHWAR KUMAR RANA

Roll No. – 300702421010
Enrolment No. –CA7199

TULESHWAR
Roll No. – 300702420028
Enrolment No. – CA7225

PINKY KUNJAM
Roll No. - 300702420034
Enrolment No. –CA7211

MRITYUNJAY KAR
Roll No. - 300702421024
Enrolment No. -CA7193
 CERTIFICATE BY THE SUPERVISOR

This is to certify that the report of the project submitted is an outcome of the project work
entitled

"Speed Control of BLDC Motor by PID Controller" carried out by

MRITYUNJAY KAR Roll No. 300702421024 Enrolment NO.:

CA7193
BHUPESHWAR KUMAR Enrolment No.:
RANA Roll No. 300702421010
CA7199
TULESHWAR Roll No. 300702421003 Enrolment No.:
CA7225
PINKY KUNJAM Roll No. 300702421030 Enrolment No.:
CA7211

Carried out under my guidance and supervision for the award of Degree in Bachelor of
Technology in Electrical Engineering
Of
Chhattisgarh Swami Vivekanand Technical University, Bhilai (C.G.), India.
To the Best of our knowledge the report

1. Embodies the work of the candidate him/herself,

2. Has duly been completed,
3. Fulfils the requirement of the Ordinance relating to the B-Tech degree of the University
and
4. Is up to the desired standard for the purpose of which is submitted.

Dr. A.K. Shukla Prof. Uma Rathore

Head Of Department Assistant Professor
Department Of Electrical Engineering Department of Electrical
Engineering
GEC, Bilaspur (C.G.) GEC, Bilaspur (C.G.)
The Project work as mentioned above is hereby being recommended and forwarded for examination and
evaluation.

(Signature of Principal with seal)

CERTIFICATE BY THE EXAMINE

This is to certify that the project work entitled.

"Speed Control of BLDC Motor by PID Controller".

Submitted by

MRITYUNJAY KAR Roll No. 300702421024 Enrollment No..-CA7193

BHUPESHWAR KUMAR
Roll No. 300702421010 Enrollment No.: -CA7199
RANA

TULESHWAR Roll No. 300702421003 Enrollment No.: -CA7255

PINKY KUNJAM Roll No. 300702421030 Enrollment No.: -CA721

has been examined by the undersigned as a part of the examination for the
award of Bachelor of Technology degree in Electrical Engineering of
Chhattisgarh Swami Vivekanand Technical University, Bhilai.

Internal Examiner External Examiner

Date: Date:
 ACKNOWLEDGEMENT

A completion with project has been a source of great practical experience and personal pride for
us and we take this opportunity to thank to all those who has been us in our endeavor.

We would like to say thank to Dr. B. S. CHAWLA principal of, Government Engineering
College Bilaspur to facilities our experimental work
.
We would like to say thank to Dr. A.K. SHUKLA Head of Electrical Engineering department,
Government Engineering College Bilaspur to facilities my experimental work.

We would also like to thank Asst. Prof. Uma Rathore professor Electrical Engineering
department, Government Engineering College Bilaspur, to provide facilities to carry out the
experimental works.

We cannot close this prefatory remark without expressing my deep sense of gratitude and
reverence to the various papers. We have used and referred to in order to complete our research
work.

MRITYUNJAY KAR [300702421024]

TULESHWAR
[300702421003]

BHUPESHWAR KUMAR RANA

[300702421010]

PINKY KUNJAM
[300702421030]
 ABSTRACT

This paper presents a control strategy for a Brushless DC (BLDC) motor using
a Proportional-Integral-Derivative (PID) controller to achieve precise speed and
position regulation. BLDC motors are widely adopted in applications that
require high efficiency, reliability, and compact design, including robotics,
electric vehicles, and industrial automation. Despite these advantages,
controlling a BLDC motor to achieve accurate response and stability can be
challenging due to factors such as load variations and external disturbances.

The PID controller provides a robust solution by continuously adjusting the

control signal to minimize the error between the desired and actual motor
outputs. The proportional component reduces the overall error, the integral
component addresses steady-state error, and the derivative component
anticipates changes to improve system stability and reduce oscillations.
Simulation and experimental results demonstrate that a PID-controlled BLDC
motor achieves effective, stable, and responsive control, showing significant
improvements in performance over traditional control methods. This approach
highlights the PID controller's capability to enhance BLDC motor applications
requiring high-precision control and robustness against disturbances
 TABLE OF CONTENT

Declaration by the candidate i

Certificate by the supervisor ii

Certificate by the examiners iii

Acknowledgment iv

Abstract v

7
Chapter Tittle Page No.
1.Introduction 9
I

II 2.softwere 10-13
2.1. About MATLAB
2.2. Advantages

III 3. list of components 14-20

3.1. BLDC Motor Model
3.2. PID Controller
3.3. Speed Measurement and Feedback
3.4. Reference Speed Input
3.5. Power Electronics (Inverter)
3.6. Load (optional)
3.7. Scope and Display Blocks

IV 4. Methodology 21-30
4.1. Block diagram
4.2. Circuit diagram
4.3. Importance of this project
4.4. Working process

V 5. Merits & Demerits 31-35

5.1. Merits
5.2. Demerits
5.3. Challenges

VI 6. Applications 36-40

VII 7. Result 41-49

8
 7.1. Future scope
7.2. Conclusion
7.3. Graphs

VIII Reference 50

1.INTRODUCTION

9
 CHAPTER-1
❖INTRODUCTION

A Brushless DC (BLDC) motor is widely used in various applications due to its high
efficiency, reliability, and ability to produce a high power-to-weight ratio. However, to
achieve precise control over a BLDC motor's speed and position, an efficient control
strategy is required. One commonly used control approach is the Proportional-Integral-
Derivative (PID) controller.

A PID controller is a feedback mechanism that continuously adjusts the motor's control
input by comparing the desired output (setpoint) with the actual output and calculating
the error. The controller then works to minimize this error by adjusting its parameters:
proportional, integral, and derivative gains. Each component of the PID controller plays
a specific role:

Proportional (P): It adjusts the output proportionally to the error, helping to reduce the
overall error.

Integral (I): It focuses on eliminating steady-state errors over time by integrating past
errors.

Derivative (D): It predicts future errors based on the rate of change, which helps in dampening oscillations and improving
system stability.
Applying a PID controller in BLDC motor control enables accurate regulation of speed, torque, or position, even in the
presence of load variations or disturbances. This approach enhances the system's responsiveness, stability, and overall
performance, making suitable for precision-demanding applications such as robotics, electric vehicles, and
industrial automation.

10
2.SOFTWARE

11
 CHAPTER-2
❖ SOFTWARE

2.1 About MATLAB

MATLAB has its own Integrated Development Environment (IDE) and collection
of libraries. Since it was initially known as the matrix programming language,
MATLAB is an acronym for "Matrix Laboratory." It is a programming language
of the fourth
generation. It is a multi-paradigm, MATLAB. Therefore, it can be used with a
variety of programming paradigms, including functional, Visual, and Object-
Oriented.
The built-in functions of MATLAB offer top-notch resources for performing
calculations, including optimization, linear algebra, numerical solution of
ordinary differential equations (ODEs), data analysis, quadrate, signal processing,
and many other scientific tasks Modern algorithms are used for most of these
functions. There are many of these for both animations and 2-D and 3-D graphics.
MATLAB also supports an external interface. The user can create their gun
functions in the MATLAB language. Thus, they are not restricted to using only
the built-in functions Additional toolboxes are provided by MATLAB. These
toolboxes were created for common uses such as neural networks, symbolic
computations,

12
image processing, control system design, and statistics.
2.2 Advantages Of MATLAB

The various advantages of MATLAB are:

● MATLAB Compiler

● Ease of Use

● Device-Independent Plotting

● Platform Independence

● Graphical User Interface

● Predefined Functions

MATLAB Compiler

Z
Ease of Use

The program can be used to execute lengthy prewritten programs or as a

scratchpad to evaluate command-line inputted phrases. Applications can be
created, modified, and debugged with the MATLAB debugger and built-in
integrated development environment. The language is ideal for quick prototyping
of new apps because it is so simple to use.

13
 To make the software user-friendly, many program development tools are
supported. They include a workspace browser, an integrated editor/debugger,
online documentation and manuals, and extensive demos.

Device-Independent Plotting

The imaging and basic plotting instructions in MATLAB are numerous. Any kind
of graphical output device offered by the machine running MATLAB can display
the plots and images. This feature elevates MATLAB to the level of a superior
technical data visualization tool.

Platform Independence

Because MATLAB runs on a variety of computers, it offers a high degree of

platform freedom, Linux, various UNIX versions, Macintosh, Windows
2000/XP/Vista, and other operating systems all support the language.
Applications created on any platform will function fully on any other platform,
and data files created for any platform can ostensibly be read on any other
platform. As a result, when the demands of the user change, programs created in
MATLAB can switch to new platforms.

Graphical User Interface

A program's Graphical User Interface (GUI) can be created interactively by a
programmer using a tool found in MATLAB. With this capacity, a programmer can
create sophisticated data-analysis algorithms that relatively inexperienced people can
utilize.
Predefined Functions
A sizable predefined functions library included with MATLAB offers tried-and-true
answers to many common technical problems. Assume, for instance, that we are
creating software that must assess the statistics related to a collection of input data. To
perform computations like the median, standard deviation, arithmetic means, and other
calculations, we would typically need to develop our own subroutines or functions in
languages.

14
●3.LIST OF
COMPONENETS

15
 CHAPTER-3
❖ LIST OF COMPONENTS
3.1. BLDC MOTOR BLOCK

BLDC Motor Block: This block models the BLDC motor's electrical and
mechanical characteristics. You can find it in the Sims cape > Electrical >
Specialized Power Systems library.

BLDC Motor Subsystem: Alternatively, you can model the BLDC motor from
scratch using a combination of electrical and mechanical blocks (e.g., electrical
sources, inductors, resistors, mechanical rotational elements).

3.2. PID CONTROLLER

PID Controller Block: The PID Controller block from Simulink > Continuous or
Simulink > Discrete is used for feedback control. It lets you configure
proportional (P), integral (I), and derivative (D) gains. For more advanced tuning,
consider using the PID Tuner in MATLAB to optimize the PID parameters.

PID Tuner (optional): To design and tune the controller parameters effectively,
MATLAB’s PID Tuner app (from the Control System Toolbox) can
automatically tune PID parameters for optimal response.

3.3 SPEED MEASUREMENT AND FEEDBACK

PID Controller Block: The PID Controller block from Simulink > Continuous or
Simulink > Discrete is used for feedback control. It lets you configure
proportional (P), integral (I), and derivative (D) gains. For more advanced tuning,
consider using the PID Tuner in MATLAB to optimize the PID parameters.

16
PID Tuner (optional): To design and tune the controller parameters effectively,
MATLAB’s PID Tuner app (from the Control System Toolbox) can
automatically tune PID parameters for optimal response.

3.4. REFERANCE SPEED INPUT

In a PID (Proportional-Integral-Derivative) controller for speed control, the

reference speed input is the desired speed (often referred to as the setpoint) that
you want the system to achieve. The controller uses this reference speed to
generate a control signal that adjusts the system's output (e.g., motor speed) to
match the desired speed as closely as possible.

3.5. POWER ELECTRONICS (INVERTER)

The power electronics inverter for speed control of a BLDC motor using a PID
controller is a critical component that enables efficient commutation and speed
regulation. Here is a detailed explanation of its components and functionality:

A power electronics inverter is a device that converts DC (direct current) into AC

(alternating current) with a controlled voltage and frequency. It is widely used in
applications such as motor drives, renewable energy systems, and uninterruptible
power supplies (UPS)

. Types of Inverters

1. Single-Phase Inverter: Converts DC to single-phase AC.

2. Three-Phase Inverter: Converts DC to three-phase AC, commonly used for

motor drives like BLDC or induction motors.

3. Multilevel Inverter: Reduces harmonic distortion in high-power applications.

For controlling a BLDC motor, a three-phase inverter is typically used.

17
 3.6 LOADS (OPTIONAL)

When designing a system for speed control of a BLDC motor using a PID
controller, including a load can help simulate real-world operating conditions or
test the motor's performance under specific scenarios. Below is a list of optional
loads that can be used in such setups, along with their purposes:

Types of Loads for BLDC Motor Testing

1. Mechanical Loads

Function: Simulate real-world applications by providing a physical resistance to

the motor's shaft.

Examples:

Flywheel: A rotating mass to simulate inertia, common in systems requiring

energy storage or slow acceleration.

Friction Brakes: Simulate braking forces or constant friction (e.g., disc brakes or
drag mechanisms).

Pump or Fan: Simulates the load of pumps, fans, or compressors, which typically
have torque proportional to speed.

Dynamometer: Measures the motor's torque and speed under controlled loading
conditions.

2. Electrical Loads

Function: Convert the motor's mechanical output into electrical power for testing.

Examples:

18
Generator: Coupled to the BLDC motor shaft, the generator produces electrical
power proportional to motor speed.

Resistive Load Bank: Connected to the generator to dissipate the produced

electrical power.

3. Adjustable Loads

Function: Provide tenable resistance or torque for dynamic testing of the motor
and PID controller.

Examples:

Electromagnetic Brake: Offers variable resistance using an adjustable magnetic

field.

Spring-Loaded Mechanism: Simulates variable mechanical resistance based on

displacement or torque.

4. Application-Specific Loads

Function: Replicate real-world conditions specific to the target application.

Examples:

Conveyor Belt: Simulates the motor driving a conveyor in industrial applications.

Robotic Arm: Represents variable loads in robotic or automation systems.

Wheel System: For simulating vehicle propulsion, such as in electric bicycles or

electric vehicles

Selecting a Load

When choosing a load, consider the following:

19
 Torque and Power Requirements: Match the load's resistance to the motor's
capacity.

Dynamic Behaviour: Decide if a static or variable load is needed.

Feedback Integration: Use loads that allow speed or torque feedback to optimize
PID control

3.7 SCOPE AND DISPLAY

In MATLAB, the Scope and Display Block are typically used within Simulink, a
MATLAB-based environment for modelling, simulating, and analysing
multidomain dynamical systems. They both serve different purposes when
working with simulations:

1. Scope Block:

The Scope block in Simulink is used to display the time-domain signals of a

system in real-time. It is like an oscilloscope, where you can visualize signals as
they evolve over time during a simulation.

Key Features:
● It plots signals in real-time as the simulation progresses.
● You can display multiple signals in a single scope window.
● It supports various visualization features like zoom, pan, and grid display for
better analysis.
● It can display signals with different data types (e.g., real, complex).
How to Use:
● Drag the Scope block from the Simulink library into your model.
● Connect the output of any block that generates a signal (e.g., sine wave, transfer
function) to the input of the Scope block.
● Run the simulation, and the Scope block will display the output signal on its
graphical window.
● Example Usage:

20
 ● Visualizing the output of a system:

● You can connect the output of a controller or system dynamics to the scope to
see how the signal behaves over time. Display Block:

The Display block in Simulink is used to show the numerical values of signals at the
current simulation time. It is a simple block used to monitor scalar or vector values
without the graphical display of time.
Key Features:
Displays the current value of a signal at a given time in the simulation.
More suited for simple, static displays of values compared to the Scope, which is used
for time-based signals.
It can be used to observe numerical data in real-time, such as system states or outputs.

How to Use:

● Drag the Display block from the Simulink library.

● Connect a signal (usually scalar) to the Display block.
● When you run the simulation, the Display block will show the current value of
the signal at that point in time.
Example Usage:

● Monitoring signal values:

● If you want to check the instantaneous value of a variable, like the output of a
controller or system state, you can use the Display block to see the numerical
result.

Differences between Scope and Display Blocks:

● Scope: Graphical representation of signals as they change over time.
● Display: Shows instantaneous numerical values without a graphical
representation.

21
4.METHODOLOGY

22
 CHAPTER – 4
❖ METHDOLOGY

23
24
4.2 CIRCUIT DAIGRAM FOR SIMULATION: -

25
26
4.3 IMPORTANCE OF THIS PROJECT

The speed control of a BLDC motor using a PID controller is crucial for
achieving precise, stable, and efficient motor performance across various
applications. Below are the key reasons highlighting its importance

1. Precision and Stability

PID (Proportional-Integral-Derivative) controllers ensure accurate speed

regulation by continuously adjusting the motor's input based on the error
between the desired and actual speed.

Minimizes speed fluctuations due to load variations or external disturbances,

ensuring a consistent output.
2. Energy Efficiency

PID control helps optimize the motor's performance by delivering only the
required power for a given load and speed condition.

Reduces energy wastage, prolonging battery life in applications like electric

vehicles and drones.
3. Enhanced Performance in Variable Loads

Many applications, such as robotics or conveyors, involve varying loads. The

PID controller ensures the motor maintains the desired speed under
different load conditions.

4. Application-Specific Requirements

Different applications require specific speed profiles:

Low Speed: Robotics for precision movement.

High Speed: Drones, fans, or pumps. PID controllers make it easier to tailor
the motor's response to such needs.

27
5. Smooth Operation

PID controllers help eliminate jerky starts and sudden changes in speed,
leading to smooth motor operation.

Reduces wear and tear on mechanical components like gears and bearings.

6. Protection and Safety

Proper speed control prevents overheating and overloading of the motor.

Limits abrupt changes in torque, reducing stress on the system and

improving reliability.

7. Improved System Dynamics

PID tuning can enhance system response, reducing settling time, overshoot,
and oscillations, which are critical in sensitive applications like medical
devices or CNC machines.

8. Compatibility with Advanced Control

PID-based systems can be integrated with field-oriented control (FOC) or

vector control for higher precision and efficiency in BLDC motors.

Useful in advanced systems like electric vehicles, robotic arms, and

industrial automation.

Key Applications Where Speed Control Is Critical

1. Electric Vehicles: Smooth acceleration and energy efficiency.

28
 2. Robotics: Precise control for movement and positioning.

3. HVAC Systems: Adjusting fan speed for optimal air circulation and
power saving.

4. Drones and UAVs: Stable flight control with responsive speed

adjustments.

5. Industrial Automation: Ensuring process consistency in conveyors, pumps,

and actuators.

4.4 WORKING PROCESS

The speed control of a BLDC (Brushless DC) motor using a PID controller
involves a closed-loop control system where the speed of the motor is continuously
adjusted to match the desired speed. The system uses a PID (Proportional-
Integral-Derivative) controller to minimize the error between the actual motor
speed and the desired speed.

Here is a detailed breakdown of the working process of speed control for a BLDC
motor using a PID controller:

1. Basic Working Principle of a BLDC Motor:

BLDC motor consists of a rotor (permanent magnets) and a stator
(electromagnetic windings). Unlike traditional DC motors, BLDC motors do not
use brushes; instead, they are electronically commutated using sensors (e.g., Hall
effect sensors) or sensor less techniques.

29
The speed of the motor is determined by the voltage applied to the motor windings
and the back electromotive force (back EMF) generated by the motor’s rotation.

2. Control Loop Setup:

To control the speed of the motor, the following steps are generally followed:

Desired Speed: A reference speed (setpoint) is specified, which is the desired

speed the motor should achieve.

Speed Feedback: The actual speed of the BLDC motor is measured using a sensor
or inferred from the back EMF. This feedback signal is continuously updated to
compare it with the desired speed.

Error Calculation: The speed error is computed as:

Error = Desired Speed - Actual Speed

This error represents the difference between the desired and actual speeds, which
the controller needs to minimize.

3. PID Controller:
The PID controller is used to adjust the motor input (typically the voltage or
current) to reduce the speed error. The controller calculates an output based on
three components:

30
 Proportional (P): The proportional term is directly proportional to the current
error value.
P = Kpa *Error
Where Kpa is the proportional gain.

Integral (I): The integral term is the sum of past errors over time, which helps
eliminate steady-state errors. It integrates the error over time to correct any bias.
I = Ki *in terror(t) dt
Where Ki is the integral gain.

Derivative (D): The derivative term predicts future error by considering the rate
of change of the error. It helps to dampen the system and reduce overshoot.
D = Kd *d\dt Error
Where Kd is the derivative gain.

PID Output: The total output of the PID controller is the sum of all three terms:
PID Output = P + I + D
This output is used to adjust the motor's input, such as the voltage supplied to the
motor.

4. Motor Drive and PWM Control:

The PID output determines how much voltage (or current) should be applied to the
BLDC motor. Since BLDC motors are typically controlled via Pulse Width
Modulation (PWM), the PID output is used to adjust the duty cycle of the PWM
signal:

31
 PWM Control: A higher PID output results in a higher duty cycle, which
increases the motor's speed. A lower PID output reduces the duty cycle, slowing
the motor.
Current Control: In some advanced systems, instead of directly controlling
voltage, the PID controller may control the current supplied to the motor, as the
current is directly related to the motor torque and speed.

5. Error Minimization:
- The PID controller continuously adjusts the motor input to minimize the error.
- If the motor's speed is too high, the error will be negative, and the controller will
reduce the motor input.
- If the motor’s speed is too low, the error will be positive, and the controller will
increase the motor input.

6. System Behaviour:
Proportional control reacts to the current error and makes large corrections
when the error is large.
Integral control eliminates any persistent, small errors over time, preventing the
system from settling at an incorrect steady-state speed.
Derivative control anticipates future errors based on the rate of change,
reducing oscillations, and overshooting the setpoint.

7. Simulation/Implementation:
In practice, the process involves:

32
 Measurement: A speed sensor or estimation algorithm measures the actual
speed of the motor.
PID Tuning: The PID controller parameters Kp, Ki, and Kd are tuned to
balance responsiveness, stability, and accuracy. This can be done through trial and
error, optimization algorithms, or methods like Ziegler–Nichols tuning.
Control Algorithm: The control algorithm computes the PID output and adjusts
the PWM signal accordingly to regulate motor speed.
8. Dynamic Response:
- The system continuously adjusts the motor’s input based on the feedback loop.
- Ideally, the speed will converge towards the desired speed without oscillating or
overshooting too much.
- In a well-tuned PID system, the motor will reach the desired speed and stay at it,
compensating for external disturbances or load changes.

Summary of Working Process:

1. The desired motor speed is set as a reference.
2. The actual motor speed is measured (feedback).
3. The error between the desired and actual speed is computed.
4. The PID controller calculates the appropriate control signal (voltage or current)
based on the error.
5. The control signal is used to adjust the motor's input, usually via PWM control.
6. The motor adjusts its speed, and the feedback loop continuously corrects the
system until the motor speed matches the desired value.

Practical Considerations:

33
 Tuning the PID Controller: The PID gains must be properly tuned to ensure
stability and optimal performance.
Noise and Disturbances: External factors like load changes or electrical noise
can affect the motor speed, so the PID controller must be robust enough to handle
these variations.
Motor Inertia and Dynamics: The motor's physical properties (inertia,
resistance, etc.) must be considered to accurately model and control the speed.

In conclusion, the speed control of a BLDC motor using a PID controller is a

sophisticated, dynamic process that relies on real-time error correction to achieve
precise speed regulation, offering efficient and responsive control for various
applications.

34
5.MERITS AND DEMERITS

35
 CHAPTER - 5
❖ MERITS & DEMERITS

5.1 MERITS

1. Precise Speed Regulation: Maintains consistent speed under varying loads.

2. Reduced Energy Consumption: Optimizes power delivery.

3. Smooth Transitions: Minimizes overshoots and oscillations during

acceleration or deceleration.
4.Versatility: Can be used in various applications, from drones to industrial
automation.

5.2DEMERITS

1.Tuning Complexity

● Challenge: One of the primary issues with PID controllers is that they
require careful tuning of the three parameters:

36
● Kp (proportional gain), Ki (integral gain), and Kd (derivative gain). These
values significantly impact the performance of the motor speed control
system.
● Impact: If the PID gains are not tuned properly, it can lead to undesirable
behavior like overshoot, oscillations, or slow response. Tuning can be time-
consuming, especially for non-experts or in systems with variable load
conditions.

2. Sensitivity to Disturbances and Noise

● Challenge: The derivative component (KdK_dKd) of the PID controller is
sensitive to noise in the system. Even small fluctuations or noise in the
feedback signal can cause the derivative term to produce large, undesired
corrections.
● Impact: This can result in the system becoming unstable or erratic. In BLDC
motors, where precise speed control is required, noise from external sources
or measurement inaccuracies can adversely affect the performance of the
controller.

3. No Built-in Adaptive Mechanism

● Challenge: PID controllers are not adaptive by nature, meaning they don’t
automatically adjust their parameters based on changes in the system's
dynamics (e.g., changes in load or motor parameters).
● Impact: In BLDC motors, varying load conditions or external disturbances
can alter the motor's performance. If the load changes (e.g., during startup
or when the motor is under load), the PID controller may not perform
optimally without manual retuning. This limits the controller’s flexibility in
dynamic or uncertain environments.

4.Slow Response and Overshoot

● Challenge: While PID control is effective for many systems, in certain cases
it can produce slower response times and overshoot (i.e., when the system
temporarily exceeds the desired speed before stabilizing).

37
● Impact: In BLDC motor speed control, this may be problematic if quick or
precise speed changes are required, or if overshooting the set speed could
cause mechanical issues or system instability.
5.Integral Windup
● Challenge: When the system experiences large and sustained errors (e.g., due
to sudden changes in load or disturbances), the integral term (KiK_iKi) of
the PID controller may accumulate excessively, causing the controller to
overcompensate.
● Impact: This phenomenon, known as integral windup, can lead to instability,
prolonged oscillations, or delayed settling of the motor speed to the desired
setpoint. Special techniques, like anti-windup mechanisms, need to be
incorporated to mitigate this issue.

6. Lack of Robustness to System Changes

● Challenge: PID control works well when the motor and system
characteristics are consistent and predictable. However, if there are
significant changes in system dynamics, such as changes in the motor’s load
or mechanical wear, the controller may no longer provide optimal
performance.
● Impact: In BLDC motors with varying loads or during startup, PID may fail
to maintain consistent speed control without modifications or additional
compensating algorithms.

7. Difficulty in Handling Nonlinearitie

● Challenge: BLDC motors exhibit nonlinearities in their electrical and

mechanical behavior, such as variations in back EMF, torque-speed
characteristics, and efficiency with respect to motor speed.
● Impact: The simple structure of the PID controller may struggle to
effectively handle such nonlinearities. In these cases, PID control may result
in suboptimal performance, such as inadequate speed regulation or excessive
power consumption.

38
 8. Lack of Optimization for Energy Efficiency

● Challenge: While PID controllers aim to achieve the desired speed, they do
not inherently optimize for energy efficiency. In systems where energy
consumption is a concern (e.g., in battery-powered applications or renewable
energy systems), a PID controller may not be the most energy-efficient
solution.
● Impact: PID controllers may use more power than necessary to maintain the
motor speed, leading to inefficiencies, especially under variable load
conditions.

9. No Direct Control of Torque

● Challenge: PID control typically focuses on speed control, not torque control.
In some applications, controlling the torque directly is more important than
controlling speed.
● Impact: For applications requiring precise torque control (e.g., robotics or
precise positioning), the PID controller might not be the best choice without
modifications to handle torque directly.

10.High Computational Complexity (for High-Frequency Applications)

● Challenge: In applications requiring very fast or high-frequency speed

adjustments (e.g., robotics or high-precision machinery), the computational
requirements of PID control may become high due to continuous error
calculations and adjustments.
● Impact: In such cases, the PID controller might not be fast enough, leading
to delays in response. This can be problematic for systems with fast dynamic
requirements.
5.3 CHALLENGES

PID control is widely used in the speed control of BLDC (Brushless DC)
motors due to its simplicity and effectiveness in many cases. However, when
applied to BLDC motors, there are several challenges that can affect the
performance of the control system. These challenges are primarily related to the

39
dynamic and nonlinear behavior of BLDC motors and their control
requirements.

40
● 6. APPLICATIONS: -

41
 CHAPTER – 6

❖ Applications

PID (Proportional-Integral-Derivative) control is widely used in various

applications of BLDC (Brushless DC) motors due to its ability to provide simple,
reliable, and effective speed and position control. BLDC motors, which are known for
their high efficiency, reliability, and ability to operate at high speeds, are used in
numerous applications across industries, including robotics, electric vehicles, industrial
automation, and consumer electronics. Here are some of the key applications of PID
control in BLDC motors:
1. Speed Control in Electric Vehicles (EVs)
● Application: Electric vehicles, including electric cars, scooters, and bicycles,
often use BLDC motors for their high efficiency, smooth operation, and ability
to handle high-speed operation.
● PID Control Role: PID controllers are used to regulate the motor speed by
adjusting the voltage or current supplied to the motor. The controller continuously
adjusts to maintain the desired speed while accounting for changes in road
conditions, load, or acceleration demands.
● Benefits: Provides smooth acceleration and deceleration, precise speed control,
and energy-efficient operation.
2. Robotics and Actuation Systems

42
 ● Application: In robotics, BLDC motors are used for precise motion control in
applications such as robotic arms, autonomous robots, and CNC (Computer
Numerical Control) machines.
● PID Control Role: PID controllers manage the speed and position of BLDC
motors, ensuring accurate movement and positioning. The PID controller can
adjust motor speed to match desired positions (servo control) or maintain
consistent speed during continuous movement.
● Benefits: Provides precise motion control, fast response to command inputs, and
stability in operation, which is crucial for tasks requiring high precision and
repeatability.
3. Unmanned Aerial Vehicles (UAVs) or Drones
● Application: Drones use BLDC motors to drive the rotors that generate lift and
control the vehicle's movement. They require precise speed and torque control for
stable flight.
● PID Control Role: PID controllers are used to adjust the speed of each rotor
individually, allowing for stable flight and precise control of pitch, roll, and yaw.
The controller compares the desired and actual speeds of the motors and makes
necessary adjustments to maintain the drone's position and orientation.
● Benefits: Ensures stable and responsive flight, compensates for environmental
disturbances (e.g., wind), and helps maintain the drone’s stability and control.
4. HVAC Systems (Heating, Ventilation, and Air Conditioning)
● Application: BLDC motors are increasingly used in HVAC systems for fans,
compressors, and pumps due to their efficiency and reduced maintenance
compared to traditional motors.
● PID Control Role: PID controllers regulate the speed of the motor driving the
fans or compressors in response to temperature or airflow setpoints. By
controlling the motor speed, the system can adjust to maintain the desired indoor
temperature and airflow more efficiently.
● Benefits: Increases system efficiency, reduces energy consumption, and
maintains precise control over room temperature and air circulation.

43
5. Electric Pump Systems
● Application: BLDC motors are commonly used in electric pumps for
applications such as water pumping, oil pumping, and fluid circulation in various
industries (e.g., agriculture, manufacturing, and water treatment).
● PID Control Role: PID controllers can regulate the speed of the BLDC motor
driving the pump to maintain a constant flow rate or pressure in the system. The
controller adjusts the motor speed based on the feedback from sensors measuring
flow rate or pressure.
● Benefits: Provides stable and efficient pumping, reduces energy consumption by
optimizing motor speed, and prevents pressure surges or drops.
6. Conveyor Systems in Manufacturing
● Application: In manufacturing and packaging industries, BLDC motors are used
to drive conveyor belts that transport products or materials.
● PID Control Role: The PID controller regulates the motor's speed to ensure a
constant and precise speed of the conveyor, even when the load changes. This is
essential for maintaining the proper timing and synchronization in automated
production lines.
● Benefits: Improves production efficiency, maintains consistent throughput, and
ensures smooth operation of conveyor systems.
7. Medical Devices and Equipment
● Application: BLDC motors are used in medical devices such as ventilators,
infusion pumps, and surgical robots. These devices require precise control of
speed, position, and torque.
● PID Control Role: PID controllers are used to ensure that the motor driving
various components (e.g., pumps, actuators, or motors for robotic arms) operates
at the correct speed or position, based on real-time feedback from sensors.
● Benefits: Ensures high accuracy and reliability, which is critical in life-saving
medical applications. It also provides smooth and consistent operation,
minimizing the risk of mechanical failure.

44
8. Home Appliances
● Application: BLDC motors are commonly found in home appliances such as
washing machines, vacuum cleaners, dishwashers, and refrigerators. These
motors are preferred for their energy efficiency and quiet operation.
● PID Control Role: PID controllers are used to regulate the motor speed and
torque, which is critical for the proper operation of various appliance functions,
such as the spinning cycle in washing machines or the fan speed in refrigerators.
● Benefits: Reduces energy consumption, improves performance, and increases the
lifespan of appliances by ensuring smooth and efficient operation.
9. Electric Propulsion in Boats or Watercraft
● Application: BLDC motors are used in electric propulsion systems for boats,
kayaks, or small watercraft, providing a clean, efficient alternative to traditional
combustion engines.
● PID Control Role: The PID controller is responsible for regulating the speed of
the motor to achieve the desired propulsion force, which is essential for
maintaining the vessel's speed, direction, and stability.
● Benefits: Provides a quiet, smooth, and energy-efficient propulsion system,
which is especially important for applications in environmentally sensitive areas
(e.g., lakes, rivers).
10. Position Control in Servo Systems
● Application: In applications such as servo motors for positioning systems (e.g.,
antennas, robotic joints, and actuators), BLDC motors are commonly used for
precise positioning and high-speed movements.
● PID Control Role: The PID controller is used to regulate the position of the
motor by adjusting the motor’s speed to reach the desired position. It compares
the desired position with the actual position feedback (usually from an encoder)
and adjusts the speed accordingly.
● Benefits: Provides high-precision control over position, making it suitable for
applications like CNC machines, robotics, and camera systems.

45
11. Wind and Solar Power Systems
● Application: BLDC motors are used in renewable energy systems, such as wind
turbines and solar tracking systems, to generate power or track the sun’s
position for maximum efficiency.
● PID Control Role: In wind turbines, PID controllers regulate the speed of the
rotor to optimize the generation of electricity based on wind speed and other
environmental conditions. In solar tracking systems, PID controllers adjust the
motor to align solar panels with the sun.
● Benefits: Increases energy generation efficiency, maximizes the performance of
renewable energy systems, and reduces system wear.

46
7.RESULT: -

47
 CHAPTER – 7

❖ RESULT

7.1 FUTURE SCOPE

The future scope of PID control in BLDC (Brushless DC) motors is

promising, especially as the demand for energy-efficient, precise, and reliable
systems continues to grow across various industries. While PID controllers are
simple and effective for many applications, advances in technology and control
theory offer new opportunities to enhance their performance and overcome their
limitations. Below are several areas where PID control could evolve and continue to
play a significant role in the future of BLDC motor control:

1.Integration with Advanced Control Techniques

● Hybrid Control Systems: PID controllers are often combined with more
advanced control techniques to improve performance in complex systems. Future
developments could see the integration of PID with model predictive control
(MPC), fuzzy logic, or neural networks to adapt PID parameters in real-time
based on the system's state. This combination can help address the limitations of
PID, such as handling nonlinearities, improving robustness, and providing
adaptive behaviour in dynamic environments.
● Adaptive and Self-Tuning PID: One promising direction for the future of PID
control in BLDC motors is the development of self-tuning or adaptive PID
controllers. These systems would automatically adjust the controller parameters
(proportional, integral, and derivative gains) based on real-time performance or
changing system dynamics (e.g., load variations, motor wear, or environmental
factors). Such capabilities can improve system efficiency and reduce the need for
manual tuning.

48
2.Energy Efficiency and Smart Grids

● Energy-Efficient Control: The focus on energy efficiency in modern systems,

especially in electric vehicles (EVs), renewable energy, and industrial
automation, is driving the development of more efficient motor control strategies.
PID control can be adapted to optimize energy consumption in BLDC motors.
For example, adaptive PID control that adjusts motor speed based on load
demand could help reduce energy use during variable loads.
● Smart Grid Integration: As smart grids and renewable energy systems grow,
there may be opportunities for PID controllers to interface with power
management systems. PID control could be integrated into energy systems that
regulate power distribution or optimize the performance of BLDC motors in wind
turbines, electric vehicle charging stations, and other renewable applications. PID
controllers could help balance energy demand and generation, improving the
stability and efficiency of smart grid networks.

3.Improved Noise and Vibration Control

● Noise Reduction: One of the challenges with PID control in BLDC motors,
especially in high-performance or sensitive applications like drones or robotics, is
its sensitivity to noise and vibrations. Future developments in PID control could
incorporate more advanced filtering techniques or state estimation methods
(e.g., Kalman filters or noise-reduction algorithms) to improve noise immunity,
resulting in smoother and quieter operation.
● Vibration Suppression: In precision applications, controlling vibration is
essential. The future of PID in BLDC motor control may see active vibration
suppression systems integrated with the controller, where the PID parameters are
tuned in real-time to reduce resonant frequencies and oscillations that can affect
the motor's performance.

4. Autonomous Systems and Robotics

49
● Autonomous Control: The increasing use of BLDC motors in autonomous
vehicles (e.g., drones, self-driving cars) and robots will require precise motor
control in dynamic and uncertain environments. PID control, especially when
augmented with machine learning or adaptive techniques, could become an
integral part of autonomous systems. For instance, PID controllers may be used
in robotic arms or drones, where adaptive PID control could allow for optimal
performance across a range of tasks, from precise positioning to high-speed
movement.
● Robot Learning and PID: In combination with techniques such as
reinforcement learning, PID control could be used to fine-tune motor
performance in real-time, improving precision and efficiency as robots "learn"
from their environment.

5.Intelligent Motor Drives with IoT

● IoT Integration: As more devices and systems become connected through the
Internet of Things (IoT), the future of PID control in BLDC motors will likely
involve integration with cloud-based monitoring and control systems. IoT-
enabled motor drives could allow PID controllers to be remotely monitored,
adjusted, and optimized. For example, real-time feedback from sensors on motor
performance (e.g., temperature, torque, speed) could be sent to cloud-based
systems, where the PID parameters could be adjusted remotely for optimal
performance.
● Predictive Maintenance: With IoT integration, PID control could be used as part
of a predictive maintenance strategy for BLDC motors. By continuously
monitoring motor health and performance, the PID controller could adjust
parameters to prevent failure or optimize efficiency before issues arise. This
would reduce downtime and extend the motor's lifespan.

6.Advancements in Motor Control Hardware

● Motor Control Chips and Processors: The development of more powerful and
efficient motor control hardware (e.g., FPGA or ASIC chips) could improve
the performance of PID controllers in BLDC motors. These chips could enable

50
 faster processing speeds, allowing for more precise and real-time tuning of PID
parameters, even in highly dynamic or high-speed applications.
● Integration with Digital Controllers: Digital signal processors (DSPs) and
microcontrollers are continuously becoming more sophisticated, enabling faster
and more precise execution of PID algorithms. In the future, PID control may be
integrated with digital controllers that can make high-speed adjustments to
motor performance based on real-time sensor feedback, increasing the accuracy
and efficiency of the control system
.
7.Higher-Speed and High-Torque Applications

● High-Speed Precision: As BLDC motors are used in higher-speed applications

(e.g., electric aviation, industrial automation, robotics), the demand for precise
speed control and torque regulation will grow. PID control could evolve to
better manage high-speed systems by improving response times and reducing
overshoot and settling times.
● Torque Control: In certain advanced applications, PID controllers could be
adapted for torque control in addition to speed control. This is critical for
systems that require a precise and responsive control of the motor's torque, such
as in robotics, automotive systems, and industrial processes.

8.Improved System Integration and Customization

● Modular Control Systems: The future of PID control in BLDC motors may
involve the development of modular motor control systems, where PID
controllers can be customized and optimized based on the specific needs of the
application. This could lead to plug-and-play solutions where different types of
motors and controllers are seamlessly integrated into larger systems with minimal
tuning.
● Cross-Platform Control: Future PID controllers could be designed to work
across a wide variety of platforms, ranging from small devices like drones to
large industrial machinery, with customizable parameters and self-learning
capabilities. This would allow PID control to be universally applicable while
maintaining high performance across different environments.

51
 9.Enhanced Feedback Mechanisms

● Sensor Integration: Future developments in PID control for BLDC motors could
integrate more advanced sensors (e.g., force sensors, vibration sensors,
temperature sensors) to provide more detailed feedback for more accurate
control. This could be particularly useful in systems that require high precision,
such as medical devices or aerospace applications.
● Multi-Sensor Feedback: By combining multiple feedback loops from different
sensors (e.g., position, velocity, current, and temperature), PID control could
provide a more comprehensive and responsive control system, improving motor
performance and longevity.

7.2 CONCLUSION
PID control has proven to be a robust, simple, and effective technique for controlling
Brushless DC (BLDC) motors in a variety of applications, ranging from consumer
electronics and robotics to electric vehicles and industrial systems. Despite its
simplicity, PID control offers significant advantages in terms of stability, ease of
implementation, and real-time performance, making it one of the most widely used
control strategies for BLDC motors.

Key takeaways regarding PID control in BLDC motors include:

● Effective Speed and Position Control: PID controllers excel in maintaining a

constant speed or precise position in BLDC motors by continuously adjusting the
control input to minimize errors between the desired and actual motor
performance.
● Simple and Cost-Effective: PID controllers are relatively simple to implement
and cost-effective compared to more complex control strategies, which is why
they are favoured in many applications where precision and performance are
important but complexity must be minimized.
● Challenges in Dynamic Environments: Despite its benefits, PID control can
struggle with nonlinearity, disturbances, and changing system dynamics, such
as varying loads or motor characteristics over time. Tuning PID parameters

52
 (proportional, integral, and derivative gains) can be time-consuming and difficult,
especially when system conditions change.
● Limitations in High-Performance Systems: In high-speed or high-precision
applications (such as robotics, drones, or high-performance motors), PID
controllers may not fully address issues like noise sensitivity, overshoot, or
steady-state errors, requiring more advanced techniques or hybrid systems that
combine PID with other methods like model predictive control or adaptive
control.
● Future Potential: As motor control systems evolve, there is significant potential
for PID control to be enhanced by integrating it with technologies such as
adaptive tuning, machine learning, IoT integration, and multi-sensor
feedback systems. This could lead to self-tuning PID controllers, allowing for
real-time optimization and better handling of dynamic system changes, making
PID even more versatile and efficient in next-generation BLDC motor
applications.
● Wide Range of Applications: PID control remains a key solution in a broad
spectrum of industries, from automotive and renewable energy to medical devices
and consumer electronics. Its ability to provide stable and efficient performance
ensures its continued relevance in many fields, particularly where energy
efficiency, precision, and smooth operation are paramount.

Final Thought:
PID control in BLDC motors strikes an optimal balance between simplicity,
reliability, and performance, making it a staple in both consumer and industrial
motor control applications. While there are challenges, the continued
development.

53
8.GRAPHS: -

54
 8.GRAPHS: -

STATOR CUREENT VS TIME AND TORQUE VS TIME GRAPHS

55
9.REFERENCE:-

56
REFERENCE: -
1. Salim Hameed BLDC
CONTROLLER BOOK.

2. H. MANAL METALAB USES

BOOK.

3. M PAFEY KHAN BOOK.

4. GOGGLE CHROME BLDC

MOTOR.

5. 3 PHASE INVERTER BOOK T.

RAHMAN.

57