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西北工业大学研究生学位论文选题报告表
Northwestern Polytechnical University
Graduate Degree Dissertation Title Selection Report Form

学 院
School AUTOMATION
学科、专业
Discipline / Specialty Electrical Engineering
姓 名
Name TANVEER ALI
学位 级别
Degree MASTER
导 师
Supervisor Professor Lin Hui
培养 类别 留学研究生
Category Overseas Postgraduates
报告 日期
Date of Report 4th Dec, 2018

研 究 生 院
 Graduate School

研究生学位论文选题报告的要求
一、硕士生的选题报告内容应包括文献综述、选题意义、研究内容、研究方案，论文工
作量的估计、工作条件，预期达到的水平，存在的问题及拟采取的解决措施。
二、博士生的选题报告内容应包括文献综述、选题背景及其意义、研究内容、研究特色、
工作难点、预期成果及其可能的创新点。
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四、正式开题之前，研究生应在广泛阅读中、外文资料的基础上，深入了解拟选课题的
国内外研究动态，把握所选课题的目的、意义和预期结果，明确课题工作的设想、
方法和研究路径。
五、研究生在规定的时间内，写出选题报告初稿，经指导教师审阅同意后，由指导教师
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则按有关规定终止学籍。
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Requirements for the Dissertation Title Selection Report

1. The Dissertation Title Selection Report for Master Degrees should include the Literature Review, the
Meaning of the Title Selection, the Research Contents, the Research Plan, Workload Estimation, Working
Conditions, the Goal to Achieve, Problems Existing as well as the Measures to Take.
2. The Dissertation Title Selection Report for PhD Degrees should include Literature Review, Background
and Meaning of the Selection, Research Contents, Characteristics of the Research, Difficulties, Goals to
Achieve and possible Innovations.
3. The Report should be made in public as academic activities.
4. Before starting the title, graduates should, based on the extensive reading through the literature both in
Chinese and in foreign languages, have a deep command of the research tendency home and abroad,. They
must have a clear mind of the aim, meaning and foreseen results, research assumption, methods and
approaches.
5. Graduates should finish the draft report within the required time, and then the supervisor after having
checked the report, organizes time to make the report. Those who fail to pass the report have to reopen a title. If
it can not be passed for a second time, the studentship will be stopped.
6. Those who can not finish the report on time should forward application to the Graduate School to
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 Research on commercial aircraft cabin door moving control by
论文题目
Dissertation Title BLDC motor

论文类型 基础研究 应用研究 工程技术 跨学科研究

(在有关项目下作记号√) Fundamental Research Application Research Engineering Technology Research Cross Discipline
Dissertation Type
(Put a tick √ under relevant item)
√

INTRODUCTION: Since the advent of Electric motors, it has dramatically developed

with the passage of time. In the year 1821 British scientist Michael Faraday explained
the conversion of electrical energy into mechanical energy by placing a current carrying
conductor in a magnetic field which resulted in the rotation of the conductor due to
torque produced by the mutual action of electrical current and field. Based on his
principal the most primitive of machines a DC (Direct Current) machine was designed
by another British scientist William Sturgeon in the year 1832 but his model was overly
expensive and wasn’t used for any practical purpose. Later in the year 1886 the first
electrical motor was invented by scientist Frank Julian Sprague. That was capable of
rotating at a constant speed under a varied range of load, and thus derived motoring
action.[1]

For the past two decades several Asian countries such as Japan, which have been under
pressure from high energy prices, have implemented variable speed PM motor drives for
energy saving applications such as air conditioners and refrigerators [2]. On the other
hand, the U.S.A. has kept on using cheap induction motor drives, which have around
10% lower efficiency than adjustable PM motor drives for energy saving applications.
Therefore recently, the increase in energy prices spurs higher demands of variable speed
PM motor drives. Also, recent rapid proliferation of motor drives into the automobile
industry, based on hybrid drives, generates a serious demand for high efficient PM motor
drives, and this was the beginning of interest in BLDC motors.[3]

BLDC motors, also called Permanent Magnet DC Synchronous motors, are one of the motor
types that have more rapidly gained popularity, mainly because of their better
characteristics and performance [4]. These motors are used in a great amount of
 industrial sectors because their architecture is suitable for any safety critical applications.
Brushless DC motors are one of the most interesting motors, not only because of their
efficiency, and torque characteristics, but also because they have the advantages of being
a direct current (DC) supplied, but eliminating the disadvantages of using Brushes.
BLDC motors have a very wide range of speed, so speed control is a very important
issue for it. This type of motors are non-linear in nature and are affected highly by the
non-linearities like load disturbance. Speed control of this motor is traditionally handled
by conventional PI and PID controllers. [5]

The brushless DC motor is a synchronous electric motor that, from a modelling perspective,
looks exactly like a DC motor, having a linear relationship between current and torque,
voltage and rpm. It is an electronically controlled commutation system, instead of having
a mechanical commutation, which is typical of brushed motors. Additionally, the
electromagnets do not move, the permanent magnets rotate and the armature remains
static. This gets around the problem of how to transfer current to a moving armature. In
order to do this, the brush-system/commutator assembly is replaced by an intelligent
electronic controller, which performs the same power distribution as a brushed DC motor
[6]. BLDC motors have many advantages over brushed DC motors and induction
motors, such as a better speed versus torque characteristics, high dynamic response, high
efficiency and reliability, long operating life (no brush erosion), noiseless operation,
higher speed ranges, and reduction of electromagnetic interference (EMI). In addition,
the ratio of delivered torque to the size of the motor is higher, making it useful in
applications where space and weight are critical factors, especially in aerospace
applications.

BLDC motors have a very wide range of speed, so speed control is a very important issue for
it. There are a lot of parameters which need to be in focus while talking about a speed
controller performance like starting current, starting torque, rise time, so different control
methods are proposed like PI, Fuzzy PI and many other for controlling these
parameters.[7]

To use different control strategies, it is very important to have a decent understanding of the
 principles of automatic feedback control. So the elementary principles of automatic
feedback control will be present in this section.

The generic components of the elementary feedback control system as shown in Figure 1.
The central component of this feedback system is the process whose output is to be
controlled. Almost in all control systems, there is always a controller block, which is
normally executed in a computer. This controller provides an output to the actuators
which make the system to follow the desired way. The combination of process and
actuator is called the plant and the component that actually computes the desired control
signal is the controller. Sensors are the ones which are responsible to provide this
information about different states of the system. This measured information is feedback
to the controller through a feedback connection. Our general system also includes an
input filter whose role is to convert the reference signal to electrical form for later
manipulation by the controller. There is also an input to the controller called reference
input which has information about the desired output of the system. Finally, there is a
comparator to compute the difference between the reference signal and the sensor output
to give the controller a measure of the system error. [8]
 Figure 1: Feedback control system(FRANKLIN, POWELL, & EMAMI-NAEINI, 2009)[8]

Literature review: Brushless DC motors were intensively developed and tested over
several years before qualification as the prime movers for Apollo spacecraft life support
blowers, and for circulating oxygen in the Lunar Portable Life Support System.
Requirements of the manned space program for motors having non sparking
characteristics for use in pure oxygen, together with high efficiency, high starting torque,
long life and good speed regulation markedly accelerated technical development of these
motors. Photodiode controlled designs were, developed by NASA in the early 1960's.
Subsequently, motors utilizing Hall effect devices have been more widely used. Stringent
aerospace requirements for brushless DC motors have resulted in new and improved
drive systems, torque motors and servomotors, and a variety of motor control units. [9]

Conventional dc machines and brushless dc machines are more preferred for industrial
purpose for the variable speed applications. Conventional dc machines have stationary
pole structure and flux is produced by the current through that pole structure. In
brushless dc motor it has permanent magnet. Here flux is produced by the current
through the permanent magnet. Reliable control method is required for the BLDC drive
applications. By the proper control method only, it can overcome the nonlinearities and
hence to obtain good dynamic response. BLDC motor is a type of permanent magnet
synchronous machine (PMSM). In BLDC motor back emf is trapezoidal in shape but in
PMSM machine it is sinusoidal in shape. In the BLDC motor it has a hall sensor to sense
the motor speed. This type of speed control is the vector control of BLDC motor which
is the indirect vector control it uses the actual speed of the machine to control the speed.
Where as in the direct vector control, it use the knowledge of the voltage and current for
speed control. Merits of BLDC motor are simplicity and low cost. Responses of BLDC
motor are highly influenced by the parameter variation and load variation. Traditional
controllers are used for simple systems and it gives good response for linear systems.[5]

Proportional-Integral-Derivative (PID) controller is the most common way of using feedback

in modern engineering system. It should strictly speaking be called PI controllers, if not
 using the derivative action. The PI controller proves the capability to modulate the speed
with feedback of Hall effect sensors.[10] But there are some drawbacks of normal PI
controller like windup or rollover arise in a PI controller working under saturation.
Hence anti-windup schemes are necessary to minimize performance degradation. Similar
situation may occur in a Proportional Resonant (PR) controller in the presence of a
sustained error input. Several methods can be employed based on existing knowledge on
PI controller to counter this problem [11].

BLDC motors are nonlinear in nature. So it requires advanced controllers like fuzzy
controller and anti-wind up PI controller. Recently various control solutions are used to
improve the dynamic response are explained in [9]. The rollover problem occurs due to
the large value of error input to the PI controller or if the error remains constant for a
long period. Drawbacks of normal PI controller like rollover can be overcome by
anti-wind up PI controller [11].

For the large variations of the error fuzzy logic controllers are used. Fuzzy controller has got
applications in wide range of speed variations. Various steps of fuzzy logic controller are
fuzzification, inference engine and defuzzification. A fuzzy logic controller converts
numerical values to linguistic variables through member ship functions, fuzzy rules are
used to evaluate these functions, by the defuzzificzation process it convert the linguistic
values to the numerical values. The aim of representing the fuzzy logic controller is to
show the response of the anti-windup PI controller is better for the load variation
compared to the fuzzy controller but the response of the fuzzy controller is good for the
speed variation [12].

For the advantages mentioned in the introduction section, electric vehicles and micro electric
motor cars in the market mostly adopt BLOCM. The traditional BLOC controlling
system requires hall sensor signals to drive the motor. When disturbance on the hall
sensor exists, the wrong actions on the main circuit prompts the BLOCM action
unsteady, the reliability of the whole controlling system is greatly reduced, also the cost
of controller is increased. In recent years, some of these developments like
Proportional-Integral (P I) controllers have been implemented for the speed control of B
 L D C motors. Different advanced control theories like the optimal and adaptive
strategies have been used. Neural network control has also been used to control B L D C
motors but its performance under load disturbance and parameter uncertainty due to the
non-linearity is not satisfactory. Sliding control is a technique that originated in Soviet
literature, in the early 1950's initiated by S. V. Emel'yanov, with advantages like order
reduction, disturbance rejection and invariance to parametric variations has now become
very popular for designing of robust system performance [13].

Proportional-Integral-Derivative (PID) controllers are still implemented in industry

enormously. There have been a lot of approaches to search the parameters of PID
controllers, including time response tuning, time domain optimization, frequency domain
shaping and genetic algorithms. However, most of them require substantial experiences
and several iterations. Since lending the optimal parameters of PID controllers is not an
easy task, it is important to establish a systemic design procedure. The methodology of
linear quadratic regulator is utilized to search the optimal parameters of the PID
controller. Linear-Quadratic Regulator (LQR) optimal control problems have been
widely investigated in the literature. The performance measure is a quadratic function
composed of state vector and control input. If the linear time-invariant system is
controllable, the optimal control law will be obtained via solving the algebraic Riccati
equation [14].

There are already many control techniques and methods developed in the field of control
engineering, but these are mostly the conventional control techniques. However, the
conventional techniques only work efficiently for linear systems but there are certain
conditions where we need to take in account the non-linearities. In real world, the
dynamics of BLDC motor in certain conditions are nonlinear and thus there is need for a
controller which works perfectly in handling non-linear systems.

In the past, many research work has been done. So far we have discussed about PID, LQR and
others in the literature review section but there is still an option to improve the
performance of these controllers by doing further research. So this project attempts to
design a controller which will gives us satisfactory results in terms of controlling the
 speed and position of a Brushless DC motor.

Motivation: The speed and position of a BLDC motor can be achieved by different
methodologies proposed in the past. There are a lot of parameters which need to be in
focus while talking about a speed controller performance like starting current, starting
torque, rise time etc. A motion system based on the Direct Current (DC) motor provides a
good, simple and efficient solution to satisfy the requirements of a variable speed drive.
Although dc motors possess good control characteristics and ruggedness, their
performance and applications in wider areas is inhibited due to sparking and
commutation problems. With the advancement of technology and development of
modern control techniques, the Permanent Magnet Brushless DC (PMBLDC) motor is
able to overcome the limitations mentioned above and satisfy the requirements of a
variable speed drive.

The controllers are designed to control speed and position of a BLDC motor. These
controllers shall have to be efficient so that under any uncertainties it can work accurately.
Many research works have been done but still the design of such controller is challenging
and difficult task and so it remains an open issue in the present and future work.

Research Objective: The main purpose of this research work is to design a control
algorithm for the opening and closing process of the commercial aircraft’s cabin door.
It’s an application research of brushless DC motor control technology. This research will
keep two dynamics in account, i.e. to control the position and speed of BLDC motor in a
closed-loop feedback system.

The aim is to investigate & propose an efficient controller that can achieve desired speed &
position tracking of BLDC motor in finite settling time with less overshoot. For this
particular reason, a Proportional-Integral (PI) based speed & position control scheme
will be investigated and implemented because it’s simple, robust and practically
applicable. Hall effect sensor being most cost-effective will be employed to determine
 the rotor position of BLDC motor.

Methodology: Brush-less DC Motor’s position and speed control plays a vital role in
industrial applications. Speed control has a great significance due to its necessity in
aircrafts and industrial automation. The demand for high speed BLDC motor with exact
tracking has been a challenging research problem. This limitation gives rise to many
interesting issues from a control perspective.

BLDC motor is used for speed and position closed-loop control of aircraft cabin door
opening and closing process. Firstly, the dynamic model of the control system is
established, such as:

1. BLDC motor dynamic model

2. Actuator driver model

3. Cabin door motion load model

4. Model of speed closed-loop control law

5. Model of closed-loop position control law

6. Sensor signal model of the door

On the basis of above models, the system simulation of the cabin door is carried out.
MATLAB/Simulink tool can be used for the simulation.

Later on, the hardware of the motor control system will be designed, and an equal proportion
model can be used to simulate the aircraft cabin door to realize the motor control circuit
design and debugging of the motion closed-loop control of the simulation cabin door
system, and the control demonstration and verification of the opening and closing
process of the cabin door can be carried out.
 p* *
Position n
controller
Speed
controller
i* Current BLDC
BLDC
controller
pf nf if M

Current
电流反馈 fdb

转速反馈Speed fdb

压力反馈 Position fdb

Figure 2. Proposed Control Scheme

Research Schedule: The proposed time schedule for the completion of my research
work is shown in the following table 1.

Work plan Time (Month)

Literature Review Sep 2018 to Dec 2018 (4 months)

Investigation of proposed Control scheme Jan 2019 to April 2019 (4 months)

Implementation in MATLAB And May 2019 to Oct 2019 (6 months)

Validation on hardware
Analysis and Compiling Results Nov 2019 to Dec 2019 (2 months)

Thesis Writing and submission Jan 2019 to Feb 2019 (2 months)

 Defense March 2020

Table 1. Time schedule for research work completion

References:
[1] Brushless DC (BLDC) Motor Fundamentals, Padmaraja, Yedamale, Microchip
Technology Inc.
[2] Iizuka, K.; Uzuhashi, H.; Kano, M.; Endo, T.; Mohri, K. Microcomputer Control for
Sensorless Brushless Motor. IEEE Trans. Ind. Appl. 1985, IA-21, 595-601.
[3] Gamazo-Real, José Carlos, Ernesto Vázquez-Sánchez, and Jaime Gómez-Gil. "Position
and speed control of brushless DC motors using sensorless techniques and application
trends." sensors 10.7 (2010): 6901-6947.
[4] Becerra, R.C.; Ehsani, M. High-Speed Torque Control of Brushless Permanent Magnet
Motors. IEEE Trans. Ind. Electron. 1988, 35, 402-406
[5] Shyam, Arundhathi, and Febin JL Daya. "A comparative study on the speed response of
BLDC motor using conventional PI controller, anti-windup PI controller and fuzzy
controller." Control Communication and Computing (ICCC), 2013 International
Conference on. IEEE, 2013.
[6] Hubik, V.; Sveda, M.; Singule, V. On the Development of BLDC Motor Control Run-Up
Algorithms for Aerospace Application. In Proceedings of the 13th Power Electronics and
Motion Control Conference (EPE-PEMC 2008), Poznan, Poland, September 2008; pp.
1620-1624.
[7] Ahmed, Ahmed M., et al. "Brushless DC motor speed control using both PI controller and
fuzzy PI controller." International Journal of Computer Applications 109.10 (2015):
29-35.
[8] Ahmed, Ahmed M., et al. "Brushless DC motor speed control using both PI controller and
fuzzy PI controller." International Journal of Computer Applications 109.10 (2015):
29-35.
[9] Chen Chien Lee, "Fuzzy Logic in Control System: Fuzzy Logic Controller Part I”, IEEE
Trans Systems, Man, Cybernetics, Vol.20, No.2, pp.404-417, 1990.
[10] K. J. Å ström and R.M. Murray, 1Feedback Systems: An Introduction for Scientists and
Engineers,3 Princeton University Press, New Jersey, 2008.
[11] Ghoshal, Anirban, and Vinod John. "Anti-windup Schemes for Proportional Integral and
Proportional Resonant Controller." (2010).
[12] R. Arulmozhiyal, R. Kandibanv, “Design of Fuzzy PID Controller for Brushless DC
Motor”, in Proc. IEEE International Conference on Computer Communication and
Informatics, Coimbatore, 2012.
[13] Rath, Jagat Jyoti, Suman Saha, and Hanumath Prasad Ikkurti. "Sliding mode scheme for
speed and current control of brushless DC (BLDC) motor." Advances in Engineering,
Science and Management (ICAESM), 2012 International Conference on. IEEE, 2012.
[14] Yu, Gwo-Ruey, and Rey-Chue Hwang. "Optimal PID speed control of brush less DC
motors using LQR approach." Systems, Man and Cybernetics, 2004 IEEE International
Conference on. Vol. 1. IEEE, 2004.
[15] M.Gopal. (2002). Control Systems Principles and Design. Second Edition, Tata McGraw
Hill.
[16] Dubey, P., Singh, V., & Mangal, M. (2012). Design and Comparison of Control Schemes
for UAV Autopilot. Proceedings of IFAC-EGNCA 2012.
[17] Khoygani, M. R., Hajighasemi, S., & Sanaei, D. (August 2013). Designing and
Simulation for Vertical Moving Control of UAV System using PID ,LQR and Fuzzy
logic. International Journal of Electrical and.
[18] Nair, M. P., & Harikumar, R. (Nov, 2015). Longitudinal Dynamics Control of UAV.
2015 International Conference on Control, Communication & Computing India (ICCC).
[19] Bharali, Jumi, and Mrinal Buragohain. "Design and performance analysis of Fuzzy
LQR; fuzzy PID and LQR controller for active suspension system using 3 degree of
Freedom quarter car model." Power Electronics, Intelligent Control and Energy Systems
(ICPEICES), IEEE International Conference on. IEEE, 2016.
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