This paper presents a speed control for in-wheel brushless AC (BLAC) motors using a simple hall sensor to improve steering and driving performance of mobility scooters. To achieve smooth steering and motion controls, the sensor-sensorless combined estimation method is proposed. Furthermore, a modified current model reference adaptive system (MRAS) is also proposed to increase the dynamic response and estimation accuracy. The dead-time effect is directly compensated to improve the sensorless performance in the lower speed region. From standstill to the controllable minimum speed region, fast open-loop control method is applied to the traction motors. The vehicle velocity is then controlled using the speed information obtained from the proposed sensorless-sensor combined estimation scheme. To verify the effectiveness, a prototype mobility scooter was manufactured and the proposed control method was tested. Experiment results shows that the steering and motion of the vehicle are improved and the overall performance is increased compared to that of the conventional driving method.

本文提出了一种轮毂无刷交流（BLAC）电动机的速度控制，该电动机使用简单的霍尔传感器来改善机动踏板车的转向和驾驶性能。为了实现平稳的转向和运动控制，提出了一种无传感器-无传感器组合估计方法。此外，还提出了一种改进的电流模型参考自适应系统（MRAS），以提高动态响应和估计精度。死区时间效应被直接补偿，以改善低速区域的无传感器性能。从静止到可控制的最小速度区域，快速的开环控制方法被应用于牵引电动机。然后，使用从建议的无传感器传感器组合估计方案中获得的速度信息来控制车速。为了验证有效性，制造了原型机动代步车，并测试了所提出的控制方法。实验结果表明，与传统的驾驶方法相比，车辆的转向和运动得到了改善，整体性能得到了提高。