Practice.
Try changing the singlespeed to fixed - you'll have no choice but to pedal fast then, so you learn faster.
I've found I can pedal faster when trying to speed up than when I'm just keeping up with the pedals, and I agreed that a slightly low saddle helps a bit. Shorter cranks help too.
I could keep up 155-160 for about a mile before it got a bit wearing and I braked, and I maxed out at 198.
There was also the time I tried leg braking only down a 1 in 6 and failed. It might have been a higher rpm, but I was too busy trying to not crash to look at the computer. Once the back wheel starts bouncing, trying to use the brakes just makes things worse. Fortunately the bottom of the hill arrived in time.