IMPLEMENTASI ALGORITMA FUZZY PID UNTUK PENGATURAN KECEPATAN MOTOR BLDC PADA PENGGERAK SEPEDA LISTRIK

Abstract

The development of electric vehicle technology, particularly electric bicycles, requires a speed control system that is stable, responsive, and accurate in order to improve comfort and operational efficiency. The Brushless Direct Current (BLDC) motor is widely used as the driving system of electric bicycles due to its high efficiency, high starting torque, and long service life. However, conventional speed control methods still have limitations in maintaining stability under system variations. This study aims to implement a Fuzzy-PID algorithm for speed control of a 500Watt, 48 Volt BLDC motor based on the ARM STM32F412 microcontroller. The Fuzzy method is employed to adaptively adjust the PID parameters (Kp, Ki, and Kd) based on the error and delta error values, thereby improving the performance of the PID controller. Testing was conducted at several reference speed variations, namely 221 RPM, 265 RPM, 307 RPM, 352 RPM, 398 RPM, and 440 RPM, without load variations. The experimental results show that the Fuzzy-PID control system provides a more stable response compared to the conventional PID without Fuzzy logic, characterized by smaller overshoot, faster settling time, and lower steady-state error. Consequently, the motor speed can be maintained closer to the desired setpoint.