Proceedings of the 6th World Congress on Intelligent Control

and Automation, June 21 - 23, 2006, Dalian, China

Speed Control of Brushless DC Motor Based on

CMAC and PID Controller*
Zhiqiang Li and Changliang Xia
School of Electrical Engineering and Automation
Tianjin University
Tianjin, China
[email protected] and [email protected]

Abstract – The brushless DC motor (BLDCM) has such apply them to motor control field recently becomes research
advantages as simple structure, convenient to control, high highlight of scholars [5-6].
reliability, high efficiency, and has been applied in many CMAC as one of the intelligence controller is widely used
industrial fields. Conventional controllers suffer from uncertain in non-linear system in recent years [7]. It is a learning
parameters and the nonlinear of the BLDCM. To overcome the
structure that imitates the human cerebellum to decide with
shortcomings of the conventional controller, this paper presents a
novel strategy on the basis of compound control using cerebellar quick response like conditioned reflex but doesn’t
model articulation controller (CMAC) and PID controller. contemplate. CMAC does not use a numerical calculation
Through compound control using CMAC and PID controller the method to analyze the dynamics of the control problem. It uses
system realizes double-fed control. CMAC forms feedforward a table look-up method to compute control functions referring
controller of the system and realizes the dynamic model of the to memory table. Consequently, the CMAC is localized-
controlled device; conventional PID controller is used to make up learning, fast responding and simple learning. It provides
of feedback controller which ensures system stability and excellent nonlinear approximate and much better follow-up
depresses disturbance. In this paper, a program written in Visual compared with conventional PID regulating strategy.
C++ functions to adjust the compound controller off-line. At last,
Therefore, it makes practical sense to combine the CMAC
a TMS320LF2407A digital signal processor (DSP) is used to fully
prove the flexibility of the control scheme in real time. The with PID controller and apply them to BLDCM control.
system realizes the self-adjustment pursuit of the speed reference This paper presents a novel approach of compound
model to a better degree, has the advantages of flexible control, control for BLDCM control using CMAC and PID controller.
strong adaptability, and achieves higher control accuracy and Its performance is verified by experimental results.
better robustness.
II. CMAC
Index Terms - Brushless DC motor, Cerebellar model
articulation controller, PID control. The CMAC neural network, which was proposed by
Albus in the 1970’s, has been widely recognized as an
I. INTRODUCTION important part of one kind associative memory neutral
network. It, which can learn random multi-dimensional
BLDCM receives wide attention for industrial
nonlinear mapping, is a self-adaptive neutral network
applications because of their favourable electrical and
expressing complex nonlinear functions by table inquiry, and
mechanical properties such as high torque density, high
can change the table’s content through learning, possesses the
efficiency and reliability [1]. Due to their merits such as
ability of storing the information after classifying them.
simple structure, high efficiency and easy implementation, the
A CMAC neural network can be depicted into three
Conventional PID is widely used in most servo applications
mappings from its input until its output: an activation mapping
such as actuation, robotics, machine tools, and so on.
at the input space, which determines which nodes or neurons
Conventional PID control used to the electrical engineering
will remain active for the current input vector and at which
appearance is based on linear model, but BLDCM is a
strength they will be processed; an internal mapping, which
nonlinear system, conventional controllers suffer from
generate the outputs for the CMAC memories, based on the
uncertain parameters and the nonlinear of the BLDCM, and it
activation of the input neurons and the parameters of the linear
is impossible to control and identify the system accurately [2].
equations; and a linear output mapping, which performs a
In recent years artificial neural network has gained a wide
weighted sum of the outputs of the active CMAC memories
attention of many researches in control applications because
and generates the overall outputs to the network [8]. Fig.1
they have capability of pattern recognition and any nonlinear
shows a schematic diagram of the CMAC structure.
function imitation. In addition, artificial neural network have
CMAC networks are considered local algorithms because,
the advantage of fast parallel computation, noise immunity
the mapping can be seen as a set of multidimensional
and fault tolerance [3-4]. As a result, to combine the artificial
interlaced receptive fields, each one with finite and sharp
neural network with the conventional PID controller and then

*
This work is supported by Key Technologies Research and Development Key Program (No. 05ZHGCGX00100) and the Applied Basic Research Key Program
(No. 043802011) of Tianjin Municipal Science and Technology Commission Foundation.

1-4244-0332-4/06/$20.00 ©2006 IEEE

6318
 interests. Normal algorithm is only suitable to low dimension
input. If the dimension is higher, hash mapping technique
should be applied.
Hash mapping may associate several hypercubes to a
memory location, and in this memory location stores data
which ever occupies abundant memory space, then the more to
less mapping will be completed.
(3) Output mapping
Mapping the input vectors to the c units of physical
Fig.1 The structure of CMAC memory locations of which every unit is stores with the
corresponding weights. The output of CMAC is the sum of
borders. For a given input vector, only a few receptive fields physical memory locations. The weight adjustment is partial,
will be active and contribute to the corresponding network during the every time of learning, the adjustment occurs only
output, while the majority of the receptive fields remain among c weights. Regarding close input, only a small part of
unexcited and not contributing to the corresponding output. weights take changes, a large part of weights will not be
On the same way, the training algorithm for a CMAC network affected. In this way, the speed of network learning is
should affect only the weights corresponding to active fields, accelerated and learning disturb is minimized.
excluding the majority of inactive fields in the network. This
increases the efficiency of the training process, minimizing the III. COMPOUND CONTROL
computational efforts needed to perform adaptation in the
whole network. They present the following features: Through compound control using CMAC and PID
(1)ҏThe input mapping can be chosen by the designer, controller the system realizes double-fed control. In detail,
through the definition of the superimposing pattern for the CMAC forms feedforward controller of the system and
receptive fields; realizes the dynamic model of the controlled device;
(2)The network outputs are linearly dependent to the conventional PID controller is used to make up of feedback
weight set, as opposed to MLP model where the input controller which ensures system stability and depresses
mapping transformed by the weight set is applied to a disturbance. Fig.2 shows a schematic diagram of the structure
nonlinear output activation function. of compound controller using CMAC and PID.
The steps designing a CMAC are listed as follow [9]: CMAC adopts the supervised learning algorithm. After
(1) Quantification (conception mapping) every control cycle, the corresponding output un ( k ) of
n dimensional input space should be divided in the input CMAC will be calculated and compared with control
layer, every input vector fall into a hypercube unit. The input u ( k ) , and then change the weight. The aim of learning
demarcation of the input space needs to define generalization
is to make the difference between control input and CMAC
parameter c , which influences the exciting fields.
the smallest. Through the learning the values of control input
X = [ X 1 , X 2 ," X n ]T is input vector, X i ∈ R , R is
i
only depend on CMAC. Whereas, the normal controller
finite interval, adopting conventional PID controller, makes the learning of
CMAC only depending on the measured value and changed
Ri = {X i X i min ≤ X i ≤ X i max } (1)
rate of system error.
X i min < λi ,1 ≤ λi ,2 ≤ " ≤ λi , ri < X i max (2) Information for a quantized state is distributively stored in
memory locations. Assume that c is the number of
where λi , j is the node of X i , R is divided into ri + 1
i
hypercubes. Using the CMAC techn ique, a stored data can be
spaces. mathematically expressed as
The middle layer is constituted by several identification c

intervals. For every random input, only a few intervals’ output u n (k ) = ¦ ai wi (k ) (4)
i =1
is nonzero value. The number of nonzero intervals is same as
generalization parameter c , and it prescribes magnitude of u ( k ) = un ( k ) + u p ( k ) (5)
network’s output area. At the same time, c must satisfy the
relational expression:
n
1 ≤ c ≤ max(ri + 1) (3)
i =1
(2) Address mapping (hash mapping)
The quantity of physical memory location demanded of
CMAC is direct proportion with exponential of n . Because the
demand that the number of primary function should be smaller
than the number of divided unit, the case with the memory
size smaller than the number of hypercubes is of more Fig.2 The structure of compound controller
using CMAC and PID

6319
where ai is a memory element selection vector, and wi ( k ) TMS320LF2407 PWM
DSP
is the corresponding weight; un ( k ) is the output of CMAC;
BLDCM
A/ D
u p (k ) is the output of conventional PID controller. Compound
Cont r ol l er
The adjusting index of CMAC is :
1 a CAP
E ( k ) = (u ( k ) − un ( k )) 2 . i (6) Hal l
Sensor
2 c
u ( k ) − un ( k ) u p (k )
Δw(k ) = η ai = η ai (7)
c c Fig.3 Control configuration of the BLDCM
w( k ) = w( k − 1) + Δw( k ) + α ( w( k ) − w( k − 1)) (8)
the rotor is gained by the Capture Unit of the DSP, and the
where η is the learning speed, η ∈ (0,1) ; α is inertia speed value is calculated from the position information.
compensation, α ∈ (0,1) . Parameters of prototype is listed below:
Rated voltage U N = 36V ;
w( k ) = ( w1 (k ), w2 (k )," , wc ( k ))T (9)
Rated torque TN = 0.4N ⋅ m ;
At the beginning, we set w = 0 , then un = 0 , u = u p ,
Rated speed nN = 3600r/min ;
system is controlled by conventional controller. Through the
Phase resistance R = 0.66Ω ;
study of CMAC, the output u p ( k ) of the PID controller tends Effective inductance L − M = 1.4mH( ±1.3%) ;
to zero, and the output un ( k ) of PID tend to total Back electromotive force coefficient Ke = 0.067V/(rad /s) ;
output u ( k ) . Rotational inertia coefficient J = 1.57 × 10 −5 kg ⋅ m 2 .
Although the control algorithm of CMAC is trained by Fig. 4 and Fig. 5 shows the speed curve when the motor
PID controller, it is not a simple duplication of conventional speed is 2000 r/min and the motor is carrying idler. Fig. 4 is
PID controller. Adding PID controller is to judge the the result of the conventional PID controller, and Fig. 5 is the
performance of CMAC, to strengthen the system’s stability speed curve of the proposed controller in this paper.
and to suppress disturbance. When system is controlled by
PID controller itself, gain k p decides the control effect to a 3000

large degree. Whereas, if the compound controller using 2500

CMAC and PID controller is adopted, the control

2000
SPEED(r/min)

effectiveness will not depend on k p , and k p is only

1500
demanded within a reasonable domain.
At beginning it is PID controller that mainly takes effect, 1000
after the continuous learning of conventional controller,
gradually CMAC take the control effect. The addition of 500

CMAC takes much better effect than PID controller single.

0
The system greatly minimizes overshoot and accelerates 0.00 0.01 0.02 0.03 0.04 0.05 0.06

respond speed, embodies the characteristics of CMAC to the TIME(s)

full. In the case of being added disturb, the system can come
Fig.4 Rotate speed curve when adopting tradition PID regulating strategy
back to stable condition quickly. To some extent, the
compound controller overcomes the shortcomings that the 3000
conventional controller cannot avoid, and promotes the
controlling effect. 2500

2000
IV. RESULTS
SPEED(r/min)

At last, this paper verifies the performance of the 1500

proposed strategy by experiments, in which TMS320LF2407A 1000

DSP based control system is applied to prototype. Fig.3 shows
the block diagram of the structure of hardware. Setting 500

command of control parameter and corresponding control

algorithm are both realized by software. 0
0.00 0.01 0.02 0.03 0.04 0.05 0.06
The TMS320LF2407A DSP is used to generate the PWM TIME(s)
and an IR2130 is used to drive the MOSFET. The A/D Unit is
used to sample the current of the motor. The position signal of Fig.5 Rotate speed curve when adopting Compound regulating
Strategy using CMAC and PID controller

6320
 3000
Through the comparison of Fig. 4 and Fig. 5, we can see
that under the control of CMAC, motor has a fast responding, 2500
small overshoot and ripple torque. The control system solves
the contradiction between fast responding and big overshoot 2000

SPEED(r/min)
of conventional PID controller, and indicates satisfying static
1500
performances.
Fig. 6 and Fig. 7 shows the speed curve when the motor 1000

speed is 2000 r/min and system is greatly disturbed under

different control methods. Fig. 6 is the result of the 500

conventional PID controller, and Fig. 7 is the speed curve of 0

the proposed controller in this paper. 0.00 0.01 0.02 0.03 0.04 0.05 0.06
TIME(s)
Through the comparison of Fig. 6 and Fig. 7, we can see
when the system is greatly disturbed, motor can regulate itself
immediately under the compound controller using CMAC and Fig.8 The phase step speed reference model
PID controller, the system has good adaptability and strong
3000
robustness.
Fig. 9 shows the result of the compound controller 2500
tracking the step speed reference model, which is shown by
Fig. 8, from stall. 2000

SPEED(r/min)
From Fig. 9 we can see that under the compound
1500
controller the system has better dynamic response capability,
efficiently reduces the effect brought by parametric variation 1000
and fluctuation of load, and has good traceability, stability and
strong adaptability. 500

3000 0
0.00 0.01 0.02 0.03 0.04 0.05 0.06
TIME(s)
2500

2000
Fig.9 The dynamic speed response for phase step when adopting
SPEED(r/min)

compound regulating strategy using CMAC and PID controller

1500

V. SUMMARY
1000
Under the condition that multi-variable parameter and
500 non-linear structure of the controlled device, the paper
presents a compound control method using CMAC and PID
0
0.00 0.01 0.02 0.03 0.04 0.05 0.06 controller for BLDCM. This method realizes satisfying speed
TIME(s) control of BLDCM. Through the analysis of speed response
curve under different condition, it can be seen that this
Fig.6 The dynamic speed response curve due to external disturbance compound controller has an excellent control performance for
when adopting conventional PID regulating strategy
BLDCM and solves the shortcomings of conventional PID
3000 controller applied to non-linear system control. It promotes the
system’s ability of anti-disturb and has high control precision,
2500
good static and dynamic performance and strong robustness.
2000
REFERENCES
SPEED(r/min)

1500 [1] W.-S. Oh, Y.-T. Kim, C.-S. Kim, T.-S. Kown, and H.-J. Kim, “Speed
Control of Induction Motor Using Genetic Algorithm Based Fuzzy
1000
Controller,” Industrial Electronics Society Conference of IEEE, Canada,
vol. 3, no. 2, pp. 625-629, November 1999.
500
[2] C.-L. Lin and H.-Y. Jan, “Multi-objective PID Control for a linear
Brushless DC Motor: an evolutionary approach,” Electric Power
0
Application of IEEE, vol. 149, no. 6, pp. 97-406, $XJXVW 2002.
0.00 0.01 0.02 0.03 0.04 0.05 0.06 [3] Xia Changliang, Wang Juan, Shi Tingna, et al, “Direct control of currents
TIME(s) based on adaptive RBF neural network for brushless DC motors,”
Proceedings of the CSEE, vol.23, no.6, pp.123-127, June 2003.
Fig.7 The dynamic speed response curve due to external disturbance [4] Xia Changliang, Wen De and Wang Juan. “A new approach of minimizing
when adopting Compound regulating strategy commutation torque ripple for brushless DC motor based on adaptive
ANN,” Proceedings of the CSEE, vol.22, no.1, pp.54-58, January 2002.

6321
[5] Shi Jun, Ye Yunyue and Jia Hongxin, “Vector control system based on [8] Chun-Shin Lin and Ching-Tsan Chiang, “Learning convergence of CMAC
single neuron PI for linear induction motor,” Medium and small-sized technique,” 1eural networks of IEEE transactions, vol.8, no.6, pp.1281-
motors, vol.30, no.4, pp.29-33, August 2003. 1292, November 1997.
[6] Wang Deming and Liu Xianxing, “AC vector control system based on [9] Almeida, P.E.M. and Simoes, M.G., “Parametric CMAC networks:
single neuron controllers,” Journal of Jiangsu University of science and fundamentals and applications of a fast convergence neural structure,”
technology, vol.22, no.4, pp.68-70, July 2001. Industry Applications of IEEE Transactions, vol.39, no.5, pp.1551-1557,
[7] Mao Zhixin, Sun Wei, “Fuzzy CMAC and its application in AC servo September 2003.
control ,” Electric drive automation, vol.25, no.3, pp.34-37, June 2003.

6322