# Stable Rules Definition for Fuzzy TS Speed Controller Implemented for BLDC Motor
## 4 Hardware Construction and Tests of the Stable Fuzzy Speed Controller
### Experimental Results  
First, after assembling the BLDC controller, the overall work itself was investigated. The main goal of this part of the tests was to check for proper operation, ensuring that the motor rotated in two directions. This part of the tests was focused on verifying the switching table's correctness and the data flow between individual controllers throughout the whole control system (including the Hall sensor interrupt setup for rotor position feedback). In the next step, the analyzed control structure with the fuzzy model was implemented in the main controller board. The final tests were divided into two parts. The first stage of the tests was conducted with a square signal applied as a reference trajectory. The time of reversal for each electric drive was controlled by the user with the Graphical User Interface. Its amplitude was modified for several attempts (in order to examine whether the quality of the implemented control algorithm and the hardware operation was adequate). The second part covered the issue related to changes in the reference speed values. Furthermore, the behavior of the control system after applying additional load torque (\(t\simeq 3.1\) s) was analyzed. The simulation tests allowed us to predict the actual speed value and follow its reference trajectory. Due to the applied parameter optimization algorithm, a highly dynamic drive and no overshoots were expected to be observed. Precise reference value tracking was achieved. The tests verified whether the experimental results were similar to those obtained in the simulation. The achieved results are shown in Figure 19.  
\begin{table}
\begin{tabular}{c c} \hline \hline
**Parameter** & **Value** \\ \hline Model & 42 BLF01 \\ Number of Poles & 8 \\ Rated voltage & 24 V \\ Rated speed & 4000 rpm \\ Rated current & 1.9 A \\ Maximum power & 26 W \\ Maximum torque & 0.18 Nm \\ Back-EMF & 3.7 V/kRPM \\ Torque constant & 0.035 Nm/A \\ \hline \hline \end{tabular}
\end{table}
Table 5: ACT 42 BLF01 BLDC motor parameters.  
The dynamics obtained during the experimental tests were very similar to the simulation results presented in Figure 11. Thus, it was proved that the implementation of the control algorithm was successful, and the optimized controller coefficients were calculated with very high precision. It could also be noticed that the developed microcontroller system was able to acquire the state variables accurately. The obtained noise level was negligible and significantly smaller than that assumed during the simulation tests.  
After conducting the tests with the optimized controller parameters, the additional behavior of the system was examined. In order to emphasize the importance of metaheuristic algorithms in the tuning process, the initial parameters of the controller were modified. Each attempt investigated slightly different parameters of the controller. Changes in several gains (proportional, derivative, and integrator path) were considered. The achieved results are shown in Figure 20. The presented speed transients show that the measured speed tried to follow its reference value, but the quality of the control process was not optimal. Many overshoots and disturbances were visible in both the static and dynamic states of the object.