[SOLVED] Asynchronous BLDC motor control

Hello to everyone, I'm new in the forums.

I'm designing a 10kW BLDC controller for my electric scooter conversion. Currently I'm using BLDC motor with hall sensors on all three phases, but there are problems with timing - the sensors are not ideally aligned and I get a timing error that produces 1kW of waste energy.
So now I'm going for new approach: averaging sector times measured with hall sensors and using interpolation to guess the width of future sector and output a waveform of such width. The key in this algorithm is that motor phases are not tied to hall sensor phases and it automatically eliminates timing errors.
The problem I'm facing now: motor is accelerating (voltage is constant) beyond rated value (RPM/V*V) until loses the phase, stops completely and starts over. This happens even when interpolation is disabled and only a sector time average is being used.

Any suggestions on this topic would be very appreciated. Thank you.