Jurnal Teknologi SPEED CONTROL OF BLDC MOTOR WITH SEAMLESS SPEED REVERSAL CAPABILITY USING MODIFIED FUZZY GAIN SCHEDULING.

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1 Jurnal Tknologi SPEE CONTROL OF BLC MOTOR WITH SEAMLESS SPEE REVERSAL CAPABILITY USING MOIFIE FUZZY GAIN SCHEULING Satishrao Pothorajoo, Hamdan aniyal * Faculty of Elctrical & Elctronics Enginring, Univrsiti Malaysia Pahang, UMP, 26600, Pkan, Pahang, Malaysia Full Papr Articl history Rcivd 14 Jun 2017 Rcivd in rvisd form 1 Octobr 2017 Accptd 10 January 2018 *Corrsponding author hamdan@ump.du.my Graphical abstract Abstract C Sourc Voltag Sourc Invrtr irct Commutation Switching Controllr PWM M. Schdulr Rotor position Hall ffct signal Position & codr Actual spd Rfrnc spd Brushlss irct Currnt (BLC) motors hav gaind popularity in rcnt yars du to thir high-powr dnsity. Many typ of spd controllr tchniqus hav bn dvlopd and Proportional Intgral rivativ () controllr has bn th most widly usd. Howvr, s prformanc dtriorats during nonlinar loads conditions. Ovr th past fiv yars, controllrs hav bn dvlopd to ovrcom this limitations in BLC spd control, howvr th solutions ar focusing on forward motoring only. In this papr, a spd controllr for BLC with samlss spd rvrsal using is proposd. Th proposd controllr rgulats th spd using 49 bas ruls. Th controllr was tstd for six tst cass and compard to and Fuzzy controllr. It is found out th proposd controllr yilds lowst stady stat rror, ss of % during stpchanging spd tst cas. Ovrall, BLC spd controllr outprforms th othr two similar controllrs in variabl spd conditions. Th controllr has potntial to b usd as bidirctional driv in highly dynamic load conditions. Kywords: BLC,, Bidirctional, Controllr, Matlab Abstrak Mutakhir ini motor arus trus tanpa brus (BLC) tlah mndapat prhatian komuniti systm kawalan krana prstasinya. Plbagai jnis pngawal laju dihasilkan, Proportional Intgral rivativ () mnjadi pilihan utama. Prstasi mrosot ktika bban tidak linar. Pngawal laju lain tlah dikmbangkan untuk mngatasi had ini sjak lima tahun kblakangan ini brfokus pada prmotoran k hadapan sahaja. alam krtas ini, Pnjadualan yang diubah suai untuk pngawal klajuan BLC dngan pmbalikan arah yang lancar mnggunakan comutasi scara brtrusan adalah dicadangkan. Pngawal ini mnggunakan 49 praturan Pnjadualan Fuzzy Gain. Pngawal ini tlah diuji dngan nam ks ujian dan dibandingkan dngan pngawal laju dan Fuzzy. Pngawal laju ini mmpunyai stady stat rror, ss of % yang rndah ktika ujian brubah laju. Ksluruhanya, pngawal klajuan Pnjadualan yang diubah suai mngatasi prstasi pngawal laju yang lain ktika kadaan laju bolh ubah. Pngawal laju ini mmpunyai pontnsi untuk digunakan sbagai pmacu dwiarah ktika bban yang brsifat dinamik. Kata kunci: BLC, Pnjadualan, dwiarah, Pngawal Laju, Matlab 2018 Pnrbit UTM Prss. All rights rsrvd 80:2 (2018) ISSN

2 162 SatishRao Pothorajoo & Hamdan aniyal / Jurnal Tknologi (Scincs & Enginring) 80:2 (2018) INTROUCTION Brushlss irct Currnt Motor (BLC) has bn a favourit motor in industry and transport du to high powr dnsity, fficincy and low maintnanc cost [1-3]. A BLC motor s rotor is mad of prmannt magnt and th numbr of pol pairs can vary from two to ight with altrnat north (N) and south (S) pols. Th motor uss lctronic commutation whr th stator winding is nrgizd in a squnc to rotat it. Winding nrgization squnc is basd on rotor position. Hnc it is ssntial to know rotor position [4-5]. Thr or mor hall snsors ar usd to obtain th rotor position and spd masurmnt for a snsor-d BLC motor. Th hall snsors coupld with trapzoidal or rctangular voltag drivs th BLC motor [6 9]. A closd loop spd controllr rquird to nsur th motor opratd at dsird spd and dirction. Svral spd controllr tchniqus wr dvlopd to catr th BLC motor oprations through th yars such as Proportional Intgral drivativ (), Proportional Intgral (PI), Proportional (P), and fuzzy basd controllrs [10-13]. controllr is th most prominnt du to its low cost and simpl configuration compard to othr typs of controllr such as fuzzy basd or nuro-fuzzy controllr [14-16]. Howvr, controllr s prformanc bcoms rducd during nonlinar load and uncrtaintis in th systm occurs [5,11]. To ovrcom controllr s limitation, svral typs of intllignt control tchniqus using fuzzy has bn dvlopd [5,16-20].In [5], Rapid Control using Fuzzy for BLC motor was dvlopd. In [17], C motor controllr using Fuzzy-Nural Ntwork was dvlopd. In [18], an adaptiv fuzzy logic was dvlopd to control BLC motor. Prformanc analysis of controllrs for PI, ANFIS, fuzzy variabl structur, and fuzzy tund was conductd in [19]. In [20], of controllr was dvlopd for ral tim lvl control. Onlin traind nuro-fuzzy controllr for BLC motor was dvlopd in [21]. In [5, 17-19, 21] th dvlopd controllrs wr abl to surpass th limitations of th controllr howvr, th dvlopd controllrs ar only for motor forwarding mod. In [22], a controllr using dspic for BLC motor in four quadrant opration was tstd. In [23], dvlopd a controllr using digital control stratgy that is abl to run in both forward and rvrs motoring mod. Howvr both authors [21-22], faild to provid sufficint data to suggst th controllr abl oprat in rvrs motoring mod. Furthrmor in [24], th position information rror during rvrsal motoring mod has twic of th phas lag angl compard to forward motoring mod was provd. Thrfor th controllr must b abl to dtrmin th idal positions of th rotor for rvrsal [6, 21-22, 24]. In this papr, spd control of BLC motor with samlss spd rvrsal capability using modifid fuzzy gain schduling was proposd. Basd on th dirction and spd th controllr will us th fuzzy gain schduling bas ruls to mt th rquirmnts. Th systms wr dsignd and tstd using Matlab Simulink. This controllr tstd for svral tst cass along with and Fuzzy controllr. 2.0 METHOOLOGY BLC Motor s control is as rprsntd in Figur 1. Th mathmatical quation of BLC motor can b xprssd by th following matrix was drivd by th author [19]: L a M ab M ac d M ba L b M bc M ca M cb L dt c i a ib ic = V a V b V c R a R b R c i a ib ic a b c (1) whr th phas voltags of th BLC motor ar rprsntd by Va, Vb and Vc. Th stator winding rsistanc ar rprsntd by Ra, Rb and Rc whil th ia, ib and ic ar th phas currnt of th motor. La, Lb and Lc ar th motor s slf-inductanc and Mab, Mac, Mba, Mbc, Mca and Mcb ar th mutual inductancs btwn stator windings. Th lctromchanical torqu can b drivd as: whr J is th inrtia of th rotor (kgm 2 ), ωr is th motor s angular vlocity and B dnots frictional constant. Mchanical load (Nm) is rprsntd by TL. In ordr to dtrmin th lctromagntic torqu of a 3-phas BLC motor, th spd, currnt and back- EMF wavforms ar rquird. Hnc, th instantanous lctromagntic torqu quation could b rarrangd and typifid as following: T m = 1 ω m ( a i a + b i b + c i c ) (2) (3)

3 163 SatishRao Pothorajoo & Hamdan aniyal / Jurnal Tknologi (Scincs & Enginring) 80:2 (2018) Rfrnc Actual C Supply Controllr Invrtr PWM Signals Switching Logic Rotor Position Position and codr BLC Motor Hall Effct snsors Hall Effct Signals whr Kpmax and Kdmax ar th highst prvious cofficint gain whil th Kpmin and Kdmin ar th smallst prvious cofficint gain. K p and K d ar th fuzzy mmbrship function. By using th currnt rror (k) and rat of rror (k), paramtrs wr dtrmind. Th following quation is usd to dtrmin th intgral tim constant: Ti = αtd (7) and th intgral gain obtain by using th quation: Figur 1 Control of BLC Motor Schdulr proposd by [26] was tstd and th rsults wr unsatisfying as it taks 1.17 ms longr to achiv th dsird spd during no load conditions compard to convntional controllr as th valus of Proportional Gain (Kp), Intgral Gain (Ki) and rivativ Gain (Kd) that fd to th controllr incrass slowly and dtrmind by th rror. To ovrcom this problm, a Fuzzy Gain Schdulr was proposd to achiv fastr rsponds as shown in Figur 2. C Supply Invrtr BLC Motor Ki = Kp αtd = Kp2 /(αkd) (8) whr th alpha (α) is th ratio of intgral constant. Intrnal structur of th proposd fuzzy uss currnt rror (k) and rat of rror (k) as inputs and has thr outputs. Th thr outputs ar K p, K d and alpha (α). Th dgr of mmbrship for both currnt rror (k) and rat of rror (k) as dpictd by Figur 3, whr Zro (Z0), Ngativ Big (NB), Positiv Big (PB), Ngativ Mdium (NM), Positiv Mdium (PM), Ngativ Small (NS), and Positiv Small (PS). Th dgr of mmbrship for K p and K d shown in Figur 4 whil th dgr of mmbrship for alpha (α) is rprsntd by Figur 5. Rfrnc Actual M.Fuzzy Gain Schdulr PWM Signals Switching Logic Rotor Position Position and codr Hall Effct snsors Hall Effct Signals Figur 2 Proposd Controllr controllr s mathmatical quivalnt can b xprssd as following quation: Figur 3 gr of mmbrship of (k) and (k) whr Kp, Ki and Kd ar th proportional, intgral and drivativ gain cofficint. This paramtr could b modifid furthr to obtain th bst rspons basd on th rquirmnt. By including th fuzzy logic, th Kp and Kd bcom a rangd gain. Th suitabl valus ar dtrmind by th fuzzy ruls. For convnincs Kp and Kd ar simplifid using th following formulas: (4) Kp = (Kpmax Kpmin)K p Kpmin (5) Kd = (Kdmax Kpmin)K d Kdmin (6) Figur 4 : gr of mmbrship for K'p and K'd

4 164 SatishRao Pothorajoo & Hamdan aniyal / Jurnal Tknologi (Scincs & Enginring) 80:2 (2018) Figur 5 : gr of mmbrship for alpha ruls wr rquird to nsur dsirabl rsults. Figur 6 (c) shows th proposd controllr in this study. All th spd controllrs will b using irct Commutation Switching schm controllr as shown in Figur 7. Th switching controllr uss complx mathmatical switching schm basd on clockwis (CW) and countr clockwis (CCW) commutation squnc for BLC motor as shown in Tabl 4 and 5 to control th spd and dirction of th BLC motor. By utilizing th duty cycl, rotor position and motor rotation dirction, th dirct switching schm controllr calculats th squnc and timing for th commutation. Hnc, producing th PWM for th invrtr. Basd on th mmbrship functions ruls tabl wr usd to obtain 49 st of ruls. Tabl 1, 2 and 3 ar th ruls tabl for K p, K d and alpha rspctivly. (k) (k) Tabl 1 Fuzzy Ruls for K p (k) NB NM NS ZO PS PM PB NB B B B B B B B NM S B B B B B S NS S S B B B S S ZO S S S B S S S PS S S B B B S S PM S B B B B B S PB B B B B B B B Tabl 2 Fuzzy Ruls for K d (k) NB NM NS ZO PS PM PB NB S S S S S S S NM B S S S S S B NS B B S S S B B ZO B B B S B B B PS B B S S S B B PM B S S S S S B PB S S S S S S S d/dt d/dt Controllr Kp* Ki* Kd* (a) Fuzzy Logic Kp Ki Kd Controllr Controllr Control Signal * All cofficint basd on Ziglr-Nichols (ZN) mthod (b) Kp Ki Kd (c) Control Signal Control Signal Figur 6 Typs of Controllr usd Tabl 3 Fuzzy Ruls for Alpha (k) (k) NB NM NS ZO PS PM PB NB NM NS ZO PS PM PB Switching Signal Gnrator Hall Effct Snsors Hall Effct Signal CW Commutation Tabl CCW Commutation Tabl 6 gat signals 6 irction Rotation Slctor PWM signals invrtr Figur 6 shows th typs of controllrs usd in this study. Figur 6 (a) shows Proportional Intgral rivativ Controllr. Th controllr was tund using Ziglr-Nichols (ZN) mthod. Fuzzy controllr dsignatd by Figur 6 (b). Th dsign was basd on Huristic mthod. A larg numbr of Figur 7 irct commutation switching schm controllr

5 165 SatishRao Pothorajoo & Hamdan aniyal / Jurnal Tknologi (Scincs & Enginring) 80:2 (2018) Tabl 4 BLC Commutation squnc for clockwis (CW) dirction Hall Snsor Input Back EMF Squnc Phas Currnt A B C a b c I+ I I+ 0 I I+ I I - I I - 0 I I - I + Tabl 5 BLC Commutation squnc for countrclockwis (CCW) dirction Hall Snsor Input Back EMF Squnc Phas Currnt A B C a b c I - I I - 0 I I - I I + I I + 0 I I + I Rspons of th Motor for Constant uring No Load For both clockwis (CW) and countr clockwis (CCW) dirction, th spd was st at 1500 rpm with no load. Th rsults ar dpictd by Figur 8 for CW dirction and Figur 9 for CCW dirction rspctivly. Figur 10 and Figur 11 shows th BLC motor phas currnts during no load conditions for th diffrnt dirctions. Th BLC motor rspons was tabulatd in Tabl 7 and 8. It could b obsrvd that during both dirctions th Fuzzy and Fuzzy Gain controllr has ovrshoot whil th controllr dos not hav ovrshoot. Th ris tim for Fuzzy is th fastst at 3.6 ms but th controllr has th fastst sttling tim during both dirctions. It is obsrvd that, a dlay of 0.2 ms during CCW dirction for Fuzzy controllr. Th ZN- Tund has th wors stady stat rror, sttling tim and ris tim dspit not having any ovrshoot. 3.0 RESULTS AN ISCUSSION Th proposd controllr is tstd with a systm dsign using Simulink as shown in Figur 2. In th Simulink modl, a BLC motor with spcification as shown in Tabl 6 was usd. Th controllr was tstd for six tst cass; (1) constant spd during no load condition, (2) constant spd during full load condition, (3) constant spd with spd during no load to full load condition, (4) constant spd with spd during full load to half load condition, (5) stp-changing spd during full load conditions, (6) varying dirction during full load conditions. Th rsults of Stady Stat Error (ss), Ris tim (Tr), ovrshoot (Mp), and Sttling tim (Ts) wr compard to Controllr and Fuzzy controllr undr th sam tst cass. Figur 8 Motor Rspons uring No Load for CW irction Tabl 6 Spcifications of BLC Motor Spcifications Valu Ratd voltag (V) 500 Ratd currnt (A) 2.23 Ratd spd (rpm) 1500 Stator phas rsistanc R (Ω) 3 Stator phas inductanc L (H) Flux linkag stablishd by magnts (V s) Voltag constant (V/rpm) Torqu constant (N m/a) 1.4 Momnt of inrtia (kg m2/rad) Friction factor (N m/(rad/s)) Pol pairs 4 Figur 9 Motor Rspons uring No Load for CCW irction

6 166 SatishRao Pothorajoo & Hamdan aniyal / Jurnal Tknologi (Scincs & Enginring) 80:2 (2018) for th diffrnt dirctions. Th rspons data is tabulatd in Tabl 9 and Tabl 10 rspctivly. For both CW and CCW dirction only Fuzzy has th shortst ris tim of 3.8 ms but it is th only on has ovrshoot of % for CW and % CCW dirctions. Th ris tim for both dirctions for rmaind sam and consistnt at 4.0 ms howvr its stady stat rror is much highr than. Ovrall prformd bttr than othr controllrs. Figur 10 Phas currnts of BLC motor uring No Load for CW dirction Figur 12 Motor Rspons uring Full Load for CW irction Figur 11 Phas currnts of BLC motor uring No Load for CCW dirction Tabl 7 Motor Rspons during CW for No Load Fuzzy Mp (%) Tr (ms) Ts (ms) Tabl 8 Motor Rspons during CCW for No Load Fuzzy Mp (%) Tr (ms) Ts (ms) Figur 13 Motor Rspons uring Full Load for CCW irction 3.2 Rspons of th Motor for Constant uring Full Load Th rspons for th motor for CW and CCW ar dpictd by Figur 12 and Figur 13 rspctivly for full load of 3 Nm. Figur 14 and Figur 15 shows th BLC motor phas currnts during full load conditions Figur 14 Phas currnts of BLC motor uring Full Load CW dirction

7 167 SatishRao Pothorajoo & Hamdan aniyal / Jurnal Tknologi (Scincs & Enginring) 80:2 (2018) Figur 15 Phas currnts of BLC motor uring Full Load CCW dirction Tabl 9 Motor Rspons during CW for Full Load Mp (%) Tr (ms) Ts (ms) Fuzzy Tabl 10 Motor Rspons during CCW for Full Load Mp (%) Tr (ms) Ts (ms) Fuzzy Rspons of th Motor for Constant uring No Load to Full Load Condition Figur 16 Motor Rspons uring No Load to Full Load for CW irction Tabl 11 Motor Rspons uring No Load to Full Load Fuzzy Rcovry Tim (ms) Bfor Load Aftr Load Rspons of th Motor for Constant uring Full Load to Half Load Condition Th load was changd from full load 3 Nm to 1.5 Nm at t = 0.05 s. Th motor spd rspons is shown in Figur 17 and th data is tabulatd in Tabl 12. Th rcovry tim of th is th wors at 1.8 ms whil th othr controllrs has th sam tim of 0.3 ms. spit th lat rcovry th has th lowst stady stat rror. Th fdback of th motor during load chang from 0 Nm to 3 Nm at t = 0.05 s is rprsntd by Figur 16 and th data is tabulatd in Tabl 11. Th rcovry tim for both Fuzzy and Fuzzy Gain is th sam at 0.8 ms which is bttr compard to. Ovrall th did bttr than othr controllrs dspit having highr stady stat rror during no load and full load conditions. Figur 17 Motor Rspons uring Full Load to Half Load for CCW irction

8 168 SatishRao Pothorajoo & Hamdan aniyal / Jurnal Tknologi (Scincs & Enginring) 80:2 (2018) Tabl 12 Motor Rspons uring Full Load to Half Load Fuzzy Rcovry Tim (ms) Bfor Load Aftr Load Rspons of th Motor for Stp-changing uring Full Load Th rspons for th stp-changing spd during full load of 3 Nm at t = 0.05 s rprsntd by Figur 18 and th data is tabulatd in Tabl 13. Thr was no ovrshoot obsrvd during spd chang from 1500 rpm to 2000 rpm. uring this tim, th Fuzzy prformd bttr compard to th othr controllr as it has th bst ris tim at 3.40 ms during spd chang from 1500 to 2000 rpm. Howvr, th s stady stat rror has incrasd during th spd chang. Both Fuzzy and s stady stat rror has dcrasd. 3.6 Rspons of th Motor for Varying irction uring Full Load Figur 19 shows th rsults of th BLC motor spd for diffrnt controllrs for varying dirction for full load conditions. It can b obsrvd that all controllrs undrtst ar abl to catr for th dirction changs from CCW to CW. Howvr, during dirction chang, th Fuzzy has ovrshoot of % dspit not having any ovrshoot during stp-changing spd as shown in Figur 18. Th has th fastst sttling tim of 7.3 ms. Th s stady stat rror during CW is th smallst compard to othr controllrs. Th Tabl 14 shows th motor fdback during this study cas Figur 19 Motor Rspons uring Full Load for both CW and CCW irction Tabl 14 Motor rspons for varying dirctions Figur 18 Motor Rspons uring Full Load for CW irction Tabl 13 Motor rspons for th stp-changing spd Fuzzy Stp chang Tr (ms) Stp chang Ts (ms) Bfor Aftr CW CW CCW CW Tr (ms) Ts (ms) Fuzzy It can b concludd that for all th tst cass undr study th proposd controllrs prformd bttr compard to othr controllrs undr tst. Howvr, th stady stat rror of th proposd controllr is slightly highr compard to its countrparts, although still within accptabl rgion. This is xpctd as th controllr sacrifics its stability for bttr dynamic prformanc.

9 169 SatishRao Pothorajoo & Hamdan aniyal / Jurnal Tknologi (Scincs & Enginring) 80:2 (2018) CONCLUSION In this study, a Control of Bldc Motor with Samlss Rvrsal Capability using was proposd. Th proposd controllr abl to prform valiantly for all th tst cass. Howvr, thr is som limitation to th controllr during load changs from no load to full load conditions. Th stady stat rror of th proposd controllr is highr compard to its countrparts but th rror is within accptabl rgion. Hnc this controllr can b usd to driv a BLC motor bidirctional for ral tim applications. Acknowldgmnt This work is supportd by Faculty of Elctrical and Elctronic Enginring, Univrsiti Malaysia Pahang undr rsarch grant RU and MRS. Th authors fully acknowldgd Ministry of Highr Education (MOHE) for th approvd fund which maks this important rsarch viabl and ffctiv. Rfrncs [1] Concari, C. and Troni, F Snsorlss Control of BLC Motors at Low Basd on iffrntial BEMF Masurmnt. Enrgy Convrsion Congrss and Exposition (ECCE), 2010 Atlanta, GA, USA Sptmbr [1] [2] avoudkhani, I. F. and Akbari, M Adaptiv Control of Brushlss C (BLC) Motor Basd on Intrval Typ-2 Fuzzy Logic. 24th Iranian Confrnc on Elctrical Enginring (ICEE), 2016 Shiraz, Iran May [3] Jang, G. H., Park, J. H., and Chang, J. H Position tction and Start-up Algorithm of a Rotor in a Snsorlss BLC Motor Utilising Inductanc Variation. IEE Procdings-Elctric Powr Appl. 149(2): [4] Rigatos, G. G Adaptiv Fuzzy Control of C Motors Using Stat and Output Fdback. Elctric Powr Systms Rsarch. 79(11): [5] Tuncay, R. N., Ernay, Z., Yilmaz, M., and Ustun, O Rapid Control Prototyping Approach to Fuzzy Control o Brushlss C Motor. Proc. Int. Conf. on Elctrical and Elctronics Enginring-ELECO 2003 Turky. cmbr [6] Vikkaraga, J. V Fuzzy Basd igital Control Stratgy for Four Quadrant, 3 Phas BLC Motor with Stability. Int. J. Eng. v. Rs. 2(2): [7] Woo, Z.-W., Chung, H.-Y., and Lin, J.-J A Typ Fuzzy Controllr with Slf-tuning Scaling Factors. Fuzzy Sts Syst. 115(2): [8]. C. Hanslman Brushlss Prmannt Magnt Motor sign: Th Writrs' Collctiv. [9] Azmi, M. A. M., Hamdan,., and Bakar, M. S Thr- Phas Variabl riv using ARM Cortx-M3. Clan Enrgy and Tchnology (CEAT) 2014, 3rd IET Intrnational Confrnc. Kuching, Malaysia Nov [10] Carvajal, J., Chn, G., and Ogmn, H Fuzzy Controllr: sign, Prformanc Evaluation, and Stability Analysis. Inf. Sci. (Ny). 123(3): [11] Londh, P. S., Patr, B. M., and Tiwari, A. P Fuzzy-lik P Controllr for Spatial Control of Advancd Havy Watr Ractor. Nucl. Eng. s. 274: [12] Rubaai, A., Castro-Sitirich, M. J., and Ofoli, M. J sign and Implmntation of Paralll Fuzzy Controllr for High-prformanc Brushlss Motor rivs: An Intgratd Environmnt for Rapid Control Prototyping. IEEE Trans. Ind. Appl. 44(4): [13] L. Abdullah t al Assssmnt on Tracking Prformanc of Cascad P/PI, N and NCasFF Controllr for Prcis Positioning of XY Tabl Ballscrw riv Systm. Procdia CIRP. 26: [14] Prmkumar, K. and Manikandan, B. V Bat algorithm Optimizd Fuzzy P basd Controllr for Brushlss irct Currnt Motor. Enginring Scinc and Tchnology, an Intrnational Journal. 19(2): [15] Navanthakkannan, C. and Sudha, M An Adaptiv Sliding Surfac Slop Adjustmnt in Sliding Mod Fuzzy Control for Brushlss C Motor rivs. Int. J. Comput. Appl. 54(2): [16] Najb, M., Shahooth, M., Mohaisn, A., Razali, R. B, and Hamdan, B An Optimizd Paramtrs for LFC in Intrconnctd Powr Systms using MLSL Optimization Algorithm. ARPN J. Eng. Appl. Sci. 11(19): [17] Gökbulut, M., andil, B., and Bal, C vlopmnt and Implmntation Of A Fuzzy-Nural Ntwork Controllr for Brushlss C rivs. Intll. Autom. Soft Comput. 13(4): [18] Prmkumar, K. and Manikandan, B. V Adaptiv Fuzzy Logic Controllr for Brushlss C Motor. Powr, Enrgy and Control (ICPEC), 2013 Intrnational Confrnc. Sri Rangalatchum indigul, India. 6-8 Fbruary [19] Prmkumar, K. and Manikandan, B. V Adaptiv Nuro-Fuzzy Infrnc Systm Basd Controllr for Brushlss C Motor. Nurocomputing. 138: [20] Fini, A. M. O., Gogani, M. B. and Pourgholi, M Fuzzy Gain of Controllr Implmntd on Ral Tim Lvl Control. Fuzzy and Intllignt Systms (CFIS) th Iranian Joint Congrss Spt [21] Prabu, M. J., Poongodi, P., and Prmkumar, P Fuzzy Suprvisd Onlin Coactiv Nuro-fuzzy Infrnc Systmbasd Rotor Position Control of Brushlss C Motor. IET Powr Elctronics. 9(11): [22] Joic, C. S., Paranjothi, S. R, and Kumar, V. J. S Practical Implmntation of Four Quadrant Opration of Thr Phas Brushlss C Motor Using dspic. Intrnational Confrnc on Rcnt Advancmnts in Elctrical, Elctronics and Control Enginring, IConRAECE'11 - Procdings, Sivakasi, India c [23] Joic, C. S., Paranjothi, S. R, and Kumar, V. J. S igital Control Stratgy for Four Quadrant Opration of Thr Phas BLC Motor with Load Variations. IEEE Trans. Ind. Informatics. 9(2): [24] Park, S. I., Kim, T. S., Ahn, T.-S. and Hyun,.-S An Improvd Currnt Control Mthod for Torqu Improvmnt of High-spd BLC Motor. Applid Powr Elctronics Confrnc and Exposition, APEC'03. Eightnth Annual IEEE, Miami Bach, FL, USA Fb

10 170 SatishRao Pothorajoo & Hamdan aniyal / Jurnal Tknologi (Scincs & Enginring) 80:2 (2018) [25] Vinatha, U., Pola, S., and Vittal, K. P Simulation of Four Quadrant Opration & Control of BLC MOTOR on MATLAB / SIMULINK. IEEE Rgion 10 Annual Intrnational Confrnc, Procdings/TENCON, Hydrabad, India Nov [26] Zhao, Z. Y., Tomizuka, M., and Isaka, S of Controllrs. IEEE Trans. Syst. Man Cybrn. 23(5):