The Design of the Hybrid Pid-anfis Controller for Speed Control of Brushless Dc Motor

This paper presents the design of the hybrid PID-ANFIS controller for controlling the speed of the Brushless Direct Current Motor (BLDCM). The objective of this work is to obtain the BLDCM speed controller equipment effectively. The hybrid PID-ANFIS controller is a combination of classical PID controller and ANFIS controller. This method is applied to BLDCM speed controller by simulation and implementation with making its prototype. Hybrid PID-ANFIS controller input consists of speed setting, actual speed and error speed. The actual speed is acquired the processing the rotor position sensor output signal. PID controller parameters are tuned using closed loop Ziegler Nichols method, while ANFIS controller parameters are acquired by off-line hybrid training. ANFIS training data includes the training input data (actual speed and speed setting) and target of ANFIS training (BLDCM input voltage in the form of PWM). The parameters of hybrid PID-ANFIS controller are the combination of the parameter of PID and ANFIS, added by the error limit. The error limit is functioned to select of working domain of each controllers through determining weight of PID and ANFIS activation signal that presented by a linear curve. The development of prototype is implementation from the development of structure and parameter of hybrid ANFIS-PID controller that uploaded into microcontroller ARM cortex STM32 F103RB using C programming language. The controller performance was analyzed based on speed response parameters, control energy and Integral Square Error (ISE) through testing each controller structure at various loaded and non-loaded conditions speeds setting. The testing results are obtained the best response performance that impacted to improve control energy reduction 17.36% and ISE 15.29%, the controllers can operate on a wide speed setting spectrum.