The Hybrid RFNN Control for a PMSM Drive Electric Scooter Using Rotor Flux Estimator

Figure 3

Experimental results of PI control system with mounted electric scooter at 1200 rpm: (a) command rotor speed 𝜔^∗, measure rotor speed 𝜔_𝑟, and estimate rotor speed 𝜔_𝑟; (b) measure rotor position 𝜃_𝑟 and estimate rotor position 𝜃̂_𝑟; (c) command current 𝑖^∗𝑎 and measure current 𝑖_𝑎 in phase 𝑎; (d) command current 𝑖^∗𝑏 and measure current 𝑖_𝑏 in phase 𝑏.

(a)

(b)

(c)

(d)