• Journal of the Korean Society for Railway
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• v.11 no.2
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• pp.203-210
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• 2008

Since hub wheel BLDC Motor consisted of wheel and BLDCM (Brushless DC Motor) without gear reducer has high efficiency and low operation noise, it can be utilized to a driving wheel at some light rail systems. However, installing sensors for speedometer on a Hub-Wheel motor is not easy, so it requires a different speed control mechanism method for speed measurement. This paper introduces a speed control method based on simple mathematical model which uses discrete Kalman Filter to estimate and control the speed of the motor.