Hybrid PID-Like Fuzzy Logic Speed Drive of

Switched Reluctance Motor

Ali Maleki Majid Valianpour Ashkan Mohammadi Saeed Darabi
Dept. of Elec. & Comp. Eng. Instrument & Control Coordinator
Iran International Engineering
Company (IRITEC)
Dept. of Eng. Dept. of Elec. &
Comp. Eng.
Semnan University Islamic Azad University
Islamabad West branch
Semnan University
Semnan, Iran Tehran, Iran Kermanshah, Iran Semnan, Iran
Ali_maleki@aut.ac.ir Majid.Valianpour@gmail.com ashkanm1986@gmail.com Saeedd65@gmail.com


Abstract In this study, a hybrid PID-like fuzzy logic
controller (FLC) is proposed to drive switched reluctance
motor (SRM) that consists of a PI fuzzy logic controller and a
derivative part. In fact, the output is the sum of a PI fuzzy logic
controller and a derivative operator of the error signal. The
Mamdani type is used for the fuzzy inference system and the
defuzzification type is bisector. The simulation results show the
small ripple of the rotational speed, better electromagnetic
torque and the fast response of the SRM with the proposed
FLC.
Keywords- SRM; FLC; PID.
I. INTRODUCTION
SRMs have many advantages like simple structure, being
maintenance free, high reliability, high efficiency operation
over a wide range of speeds, the rotor structure without
windings, etc [1,2].
Recently, the fuzzy logic controller has been studied, and
various types of FLCs have also been proposed for the SRM
to enhance the drive performance [3][9]. In this research, a
PID-like FLC is proposed and its membership functions,
rule bases, fuzzy inference system and defuzzification type
will be explained.
Various hybrid speed controllers are designed for SRM.
In [10], a hybrid method to drive SRM was proposed that
used PI fuzzy logic controller in steady state. The PID fuzzy
logic speed controller was used when the error is big and
when the error is small, PID controller was used to enhance
the steady-state accuracy of the system in [11]. In this study,
the hybrid PID fuzzy logic controller only is used for
various ranges of speed drive. Its performances during speed
change are shown. The SRMs have significant ripple of the
electromagnetic torque. The reduction of the
electromagnetic torque ripple is the most important
advantage of the proposed controller. Furthermore, the
speed of SRM with proposed controller has small speed
ripple compared to the conventional PID controller.
II. SRM EQUATIONS
The stator pole and the rotor pole of SRM are salient with
concentrated windings on stator and the rotor does not have
magnets or coils. The basic principle of torque production is
discussed in Refs. [2,12]. In this study, a three-phase and 6/4
pole SRM is considered and is shown in Figure 1. The
difference equations that describe the performances of a
SRM are as follows [1], [11]:
:
]n
= R
s
i
]n
+
x
]n
(0
n
,
n
)-x
]n-1
(0
n
,
n
)
t
. (1)
[
o
n
-o
n-1
t
+B
n
= I
]n
(0
n
, i
n
) - I
L
3
]=1
. (2)

n
=
0
n
-0
n-1
t
. (3)
I
]n
(0
n
, i
n
) = j
w
]c
0
[
=cont.
. (4)
where v
jn
, i
jn
,
jn
and T
jn
are the voltage of j
th
phase at
n
th
instant, the current of j
th
phase at n
th
instant, the flux
linkage of j
th
phase at n
th
instant and the electromagnetic
torque of j
th
phase at n
th
instant, respectively. 0
n
and
n
are
the rotor position and the rotational speed at n
th
instant,
respectively. R
s
, B and T
L
are the resistance of the phase
winding, the viscous friction coefficient and load torque.

Figure 1. Three-phase and 6/4 pole SRM

Figure 2. Proposed FLC for SRM drive
III. FUZZY LOGIC CONTROLLER
The basic block diagram of the proposed PID fuzzy logic
controller for SRM is shown in Figure 2. A FLC consists of
the fuzzification process, the knowledge base and the
defuzzification process [13].The speed error (e) and the
change of the speed error (Ae) are the input variables and u
978-1-4577-1829-8/12/$26.00 2012 IEEE
is the output variable (u) of FLC. Figure 3 shows the
membership functions of e, Ae and u.


(a)

(b)

(c)
Figure 3. Member functions a. input variable e b. input variable Ae c.
output variable u

As shown in Figure 3, each membership function has
seven fuzzy sets that are negative large (NL), negative
medium (NM), negative small (NS), zero (Z), positive small
(PS), positive medium (PM) and positive large (PL). The
rule bases for the proposed FLC are formed by experience
gained during simulation on SRMs in open loop operation.
Table 1 shows the linguistic rule bases for the proposed
FLC.
TABLE I. RULE BASES FOR FLC
Ae
e
NL NM NS Z PS PM PL
NL NL NL NL NL NM NM Z
NM NL NL NL NM NM Z PS
NS NL NL NM NM Z PS PM
Z NL NM NS Z PS PM PL
PS NM NS Z PS PM PL PL
PM NS Z PS PM PL PL PL
PL Z PS PM PL PL PL PL

The Mamdani type is used for the fuzzy inference system
and the defuzzification type is bisector [14]. The Surface
Viewer of the input variables (e, Ae) and the output variable
(u) is shown in Figure 4. The Surface Viewer is used to
display the dependency of the output on the inputs [14]. The
output of hybrid PID FLC is used to generate duty cycle of
the PWM generator to drive the SRM.
IV. SIMULATION RESULTS
The performance of hybrid FLC is compared with
conventional PID to validate its performance. Figure 5,
Figure 6 and Figure 7 show speed of SRM with
conventional PID controller and proposed hybrid FLC for
1000 rpm, 1500 rpm and 2500 rpm respectively. Form this
figures, the proposed controller has small speed ripple.
Significant reduction in speed ripple decreases noise of
SRM.


Figure 4. Surface Viewer of the variables

Figure 8, Figure 9 and Figure 10 show electromagnetic
torque of SRM with conventional PID controller and
proposed hybrid FLC for 1000 rpm, 1500 rpm and 2500 rpm
respectively. These figures show the advantage of hybrid
FLC that has more uniform electromagnetic torque.

(a)

(b)
Figure 5. Speed of SRM at 1000 rpm (a) conventional PID controller (b)
proposed hybrid FLC
0 0.1 0.2 0.3 0.4 0.5
950
1000
1050
Time (s)
S
p
e
e
d

(
r
p
m
)
0 0.1 0.2 0.3 0.4 0.5
950
1000
1050
Time (s)
S
p
e
e
d

(
r
p
m
)

(a)

(b)
Figure 6. Speed of SRM at 1500 rpm (a) conventional PID controller (b)
proposed hybrid FLC

(a)

(b)
Figure 7. Speed of SRM at 2500 rpm (a) conventional PID controller
(b) proposed hybrid

Figure 8. Electromagnetic torque of SRM at 1000 rpm

Figure 9. Electromagnetic torque of SRM at 1500 rpm

Figure 10. Electromagnetic torque of SRM at 2500 rpm
V. CONCLUSION
In this study a hybrid PID like FLC is described that is
composed of a PI type fuzzy controller and a derivative
operator. The derivative operator can be considered as third
input of a PID like FLC but it complicates FLC because it
needs 777=343 pure rule bases. Therefore, the proposed
controller is simpler than a FLC with three inputs and 343
pure rule bases. The proposed FLC has small speed ripple
and uniform electromagnetic torque. The SRMs have
significant ripple of the electromagnetic torque. So the
reduction of the electromagnetic torque ripple is the most
important advantage of the proposed controller.
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a
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n
e
t
i
c

T
o
r
q
u
e

(
N
m
)


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