Speed Control of BLDC Using NARMA-L2 Controller in Single Link Manipulator

Abstract

The BLDC motors are widely used in industrial applications. The load characteristic and controller are important to obtain optimum performance in the speed control of the BLDC motor because some problems are occurred in speed control of nonlinear loads which is used the conventional control methods. The single link manipulator used in robotic applications is a nonlinear system for control algorithms. The load of motor is determined on considering the conversion ratio of the reducer box. In this study, a single link manipulator system consist of BLDC motor, reducer gearbox and robot arm is controlled by using NARMA-L2 controller as known modern control method in used the control of the nonlinear systems. The NARMA-L2 controller is based on neural network. The single link manipulator system is analyzed by using MATLAB/Simulink environment. The speed control of the BLDC motor is performed in conditions the constant and nonlinear load. The results show that the speed control of BLDC motor is performed the high performance in nonlinear loads.