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Advances in Fuzzy Systems
Volume 2012, Article ID 319828, 11 pages
Research Article

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

1Department of Electrical Engineering, National United University, Miaoli 360, Taiwan
2Department of Engineering, Su-Mo Enterprise Co. LTD, Taichung 430, Taiwan

Received 29 June 2011; Revised 15 November 2011; Accepted 20 December 2011

Academic Editor: Uzay Kaymak

Copyright © 2012 Chih-Hong Lin and Chih-Peng Lin. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The hybrid recurrent fuzzy neural network (HRFNN) control for permanent magnet synchronous motor (PMSM) drive system using rotor flux estimator is developed to control electric scooter in this paper. First, the dynamic models of a PMSM drive system were derived in according to electric scooter. Owing to the load of electric scooter exited many uncertainties, for example, nonlinear friction force of the transmission belt, and so forth. The electric scooter with nonlinear uncertainties made the PI controller to disable speed tracking control. Moreover, in order to reduce interference of encoder and cost down, an HRFNN control system using rotor flux estimator was developed to control PMSM drive system in order to drive electric scooter. The rotor flux estimator consists of the estimation algorithm of rotor flux position and speed based on the back electromagnetic force (EMF) in order to supply with HRFNN controller. The HRFNN controller consists of the supervisor control, RFNN, and compensated control with adaptive law is applied to PMSM drive system. The parameters of RFNN are trained according to different speeds in electric scooter. The electric scooter is operated to provide disturbance torque. To show the effectiveness of the proposed controller, comparative studies with PI controller are demonstrated by experimental results.