Speed Control System of BLDC Motor using PI Anti – Windup Controller on an Autonomous Vehicle Prototype (AVP)

Abstract

This study uses an antiwindup PI controller as a BLDC motor speed controller to eliminate windup phenomena due to the accumulation of integral signals when saturation occurs. In its design, the BLDC motor is first modeled using SysId MATLAB by looking at the system response when it is run with PWM values that are directed linearly from the desired motor speed. Once it is known that the system response is graphically in the form of a straight line, then the next is to provide input in the form of a setpoint value that changes randomly to the BLDC motor. The setpoint value is the input value and the measured RPM value is the output for SysId MATLAB. Determination of kp and ki values is carried out analytically in ideal conditions (no saturation) and in accordance with the desired design specifications. The next step is to do a simulation using the PI – anti windup control structure using kp and ki values that have been previously obtained. Based on the results of the simulation and implementation it was found that the PI control system – antiwindup works well in overcoming the saturation problems in the actuator and is able to make the system provide a fast response to the given control signal. In this case, the percent overshoot and steady state errors are made to zero and settling time is several times faster than open loop conditions or by using PI control only.