Turkish Journal of Electrical Engineering and Computer Sciences




This paper deals with the speed control of a permanent-magnet brushless direct current (PMBLDC) motor. A fractional order PID (FOPID) controller is used in place of the conventional PID controller. The FOPID controller is a generalized form of the PID controller in which the order of integration and differentiation is any real number. It is shown that the proposed controller provides a powerful framework to control the PMBLDC motor. Parameters of the controller are found by using a novel dynamic particle swarm optimization (dPSO) method. The frequency domain pole-zero (p-z) interlacing method is used to approximate the fractional order operator. A three-phase inverter with four switches is used in place of the conventional six-switches inverter to suggest a cost-effective control scheme. The digital controller has been implemented using a field programmable gate array (FPGA). The control scheme is verified using the FPGA-in-the-loop (FIL) wizard of MATLAB/Simulink. Improvement in the overall performance of the system is observed using the proposed FOPID controller. The energy efficient nature of the FOPID controller is also demonstrated.


Fractional PID, particle swarm optimization, brushless DC, FPGA, tuning

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