# Time Domain Investigation of Hybrid Intelligent Controllers Fed Five-Phase PMBLDC Motor Drive
## 5 Experiment and Discussions  
The designed controllers were experimentally tested with PIC16F870 and PIC16F872 microcontrollers. The control algorithms of PI, fuzzy, and fuzzy-PI were dumped into the PIC16F872 microcontroller, so that it gave an analog dc voltage from zero to a maximum of 5 VDC, as a torque reference command to the PIC16F870 microcontroller. The design values of different controllers were taken from the simulation, and fed as a variable in the controller IC PIC16F872 microcontroller. The component PIC16F872 was a part of the hardware. The primary objective of the PIC16F870 microcontroller is to find the subsequent duty cycle for switching the ten-switch inverter and to perform the commutation. The IRFP260N (MOSFET) is used as a switch for the five-leg, ten-switch voltage source inverter. The hardware setup is depicted in Figure 11. A 24 V switched mode power supply (SMPS) supplying power to a 210 W five-phase PM-BLDC motor through a five-leg inverter is shown. The parameters pertaining to the motor are listed in Table 7. This converter takes any one of the hall inputs and converts the frequency of the hall pulses into corresponding analog voltages. The analog voltage is observed in the digital storage oscilloscope (DSO) as the transient and steady state speed response, as shown in Figures 12-16. To capture the output waveform (Figures 12-16) of the experimental results, a Tektronix two-channel 60 MHz DSO (TBS1062) was used. The F to V converter is standardized such that it generates a dc voltage of 560 mV corresponding to the motor speed of 1400 rpm. The time consumed by the voltage response to reach 50% of the steady state value, i.e., 280 mV, is considered as the delay time and, from Figure 12a, it can be observed that the response takes 180 ms to reach 280 mV. \begin{table}
\begin{tabular}{c c c c} \hline \hline
**Rated Motor Parameters** & **Symbol** & **Value** & **Units** \\ \hline Power & P & 210 & Watt \\ Input Voltage & V\({}_{\text{in}}\) & 24 & Volt \\ Armature Current & I\({}_{\text{a}}\) & 10.8 & Amps \\ Rotor speed & N & 1500 & rpm \\ \hline \hline \end{tabular}
\end{table} 
Table 7: Motor Parameters. Figure 11: Hardware setup depicting a five-phase intelligent controller-fed PMBLDC drive. Figure 14: Transient behavior with Fuzzy-PI Controller (Experimental). (**a**) Delay Time, (**b**) Rise Time, (**c**) Peak Time, (**d**) Settle Time. Figure 12: Transient behavior with PI controller (experimental). (**a**) Delay Time, (**b**) Rise Time, (**c**) Peak Time, (**d**) Settle Time. Figure 13: Transient behavior with Fuzzy Controller (Experimental). (**a**) Delay Time, (**b**) Rise Time, (**c**) Peak Time, (**d**) Settle Time. Figure 15: Five-phase PMBLDC drive waveforms (Experimental). (**a**) Line Voltage Vab, Vbc and Phase-a, Phase-b currents. (**b**) Speed Response of PI Controller fed Drive. (**c**) Speed Response of Fuzzy controller fed Drive. (**d**) Speed response of Fuzzy-PI controller fed Drive. Similar analyses of delay time with fuzzy and fuzzy-PI are depicted in Figures 13a and 14a, respectively. The time taken for a response to reach 90% of the steady state value, i.e., 504 mV, is taken as the rise time and, from Figure 12b, it is observed that the response takes 250 ms to reach 504 mV. Similar analyses of the rise time with fuzzy and fuzzy-PI are shown in Figures 13b and 14b, respectively. The time taken for a response to reach its maximum amplitude for the first time is 500 ms to reach 896 mV. Similar analyses of the peak time with fuzzy and fuzzy-PI are shown in Figures 13c and 14c, respectively. This peak value of 896 mV corresponds to 2240 rpm of the motor during its transient period. The time taken for a response to settle within 3 to 5% of its steady state value is taken as the settling time and, from Figure 12d, it is observed that the response takes 270 ms to reach 560 mV. Similar analyses of peak time with fuzzy and fuzzy-PI are depicted in Figures 13d and 14d, respectively.