Abstract: The present disclosure provides a real-time simulation system for testing a controller, which outputs a control signal for controlling operations of a power converter and an AC motor. The real-time simulation system comprises a real-time simulation module, a load simulation module and an operation management and monitoring module. The real-time simulation module constructs a first model simulating the dynamic behaviors of the AC motor coupled to the mechanical load. The real-time simulation module operates a simulation program for generating a first simulation result. The load simulation module constructs a second model simulating dynamic behaviors of the mechanical load and generates a second simulation result by a simulation program. The real-time simulation module can adjust the simulation program to the first model according to the second simulation result. The operation management and monitoring module monitors the operation of the real-time simulation module and the load simulation module.

Abstract: A circulating current and oscillating current suppressing method and parallel inverter driver system are disclosed. Each inverter driver outputs a suppressing three-phase current to a motor and has an entity inductance device and a virtual inductance device. The virtual inductance device receives and sums the suppressing three-phase current of the inverter drivers, and generates a compensated three-phase current according to the suppressing three-phase currents, an impedance of the motor and an ideal impedance value generated by a virtual inductance unit and the entity inductance device. Consequently, the oscillating current of the transition three-phase current outputted from a switch device of the inverter driver can be reduced.

Abstract: A circulating current and oscillating current suppressing method and parallel inverter driver system are disclosed. Each inverter driver outputs a suppressing three-phase current to a motor and has an entity inductance device and a virtual inductance device. The virtual inductance device receives and sums the suppressing three-phase current of the inverter drivers, and generates a compensated three-phase current according to the suppressing three-phase currents, an impedance of the motor and an ideal impedance value generated by a virtual inductance unit and the entity inductance device. Consequently, the oscillating current of the transition three-phase current outputted from a switch device of the inverter driver can be reduced.

Abstract: A motor deceleration method for a motor driving system is provided. The motor driving system outputs a driving signal containing a voltage value, a current value and a frequency value for driving a motor. When a deceleration of the motor is launched, the descent speeds of the voltage value and the frequency value are controlled according to a preset deceleration time period. Then, a voltage compensation value is generated according to a result of comparing the current value with a preset current level, and the voltage value is increased according to the voltage compensation value, so that the current value is increased to the preset current level. According to a frequency compensation value, the current value is increased to and maintained at the preset current level. Finally, the rotating speed of the motor is gradually decreased to a preset speed.

Abstract: A motor deceleration method for a motor driving system is provided. The motor driving system outputs a driving signal containing a voltage value, a current value and a frequency value for driving a motor. When a deceleration of the motor is launched, the descent speeds of the voltage value and the frequency value are controlled according to a preset deceleration time period. Then, a voltage compensation value is generated according to a result of comparing the current value with a preset current level, and the voltage value is increased according to the voltage compensation value, so that the current value is increased to the preset current level. According to a frequency compensation value, the current value is increased to and maintained at the preset current level. Finally, the rotating speed of the motor is gradually decreased to a preset speed.

Abstract: Proposed is a driver having dead-time compensation function. The driver having dead-time compensation function generates an output voltage according to a voltage command and a frequency command. The driver includes an inverter, an output current detector and a control unit. The inverter receives a DC voltage and operates with a pulse width modulation mode so that the driver outputs the output voltage and an output current. The output current detector detects the current value of the output current to generate a output current detecting signal. The control unit outputs a switching control signal to inverter according to the voltage command and the frequency command. The control unit corrects a reference command according to dead-time and the output current detecting signal related to the output current so that amplitude and waveform smoothness of the output voltage and the output current are compensated.

Abstract: Proposed is a parallel inverter drive system including includes a plurality of inverter drives connected in parallel with each other, in which each inverter drive includes a switch; a PWM controller connected to the switch for controlling switching operations of the switch device according to a duty cycle signal; and a circulating current suppressor for collecting current information associated with the current of each inverter drive and a summation current, and generating an index according to the collected current information and the desired circulating current quantity. A zero-sequence voltage is generated for each phase of a three-phase voltage command according to the index and the voltage command and the operating mode of the inverter drive, thereby injecting the zero-sequence voltage into the voltage command with a feed-forward configuration so as to fix the voltage command. The PWM controller can generate the duty cycle signal according to the fixed voltage command.

Abstract: The present invention discloses a motor deceleration method which is applied to a motor driving apparatus. The motor driving apparatus includes an energy-storing unit and a controlling unit, and outputs a driving signal to control the motor. The controlling unit controls a driving frequency of the driving signal. The driving deceleration method includes following steps of controlling the driving frequency to zero; increasing the driving frequency in a linear way by using the controlling unit; detecting whether a terminal voltage difference of the energy-storing unit is increased to a preset voltage value, and if yes, adjusting the driving signal to keep the terminal voltage difference at the preset voltage value; and reducing the driving frequency continuously to decelerate the motor.

Abstract: Proposed is a driver having dead-time compensation function. The driver having dead-time compensation function generates an output voltage according to a voltage command and a frequency command. The driver includes an inverter, an output current detector and a control unit. The inverter receives a DC voltage and operates with a pulse width modulation mode so that the driver outputs the output voltage and an output current. The output current detector detects the current value of the output current to generate a output current detecting signal. The control unit outputs a switching control signal to inverter according to the voltage command and the frequency command. The control unit corrects a reference command according to dead-time and the output current detecting signal related to the output current so that amplitude and waveform smoothness of the output voltage and the output current are compensated.

Abstract: Proposed is a parallel inverter drive system including includes a plurality of inverter drives connected in parallel with each other, in which each inverter drive includes a switch; a PWM controller connected to the switch for controlling switching operations of the switch device according to a duty cycle signal; and a circulating current suppressor for collecting current information associated with the current of each inverter drive and a summation current, and generating an index according to the collected current information and the desired circulating current quantity. A zero-sequence voltage is generated for each phase of a three-phase voltage command according to the index and the voltage command and the operating mode of the inverter drive, thereby injecting the zero-sequence voltage into the voltage command with a feed-forward configuration so as to fix the voltage command. The PWM controller can generate the duty cycle signal according to the fixed voltage command.

Abstract: The present invention proposes a single-axis-control-input gyroscope system having imperfection compensation, which comprises a gyroscope and a state observer. The gyroscope includes a mechanical structure, and the dynamic behavior of the mechanical structure is described with a plurality of system parameters and a plurality of dynamic equations. The system parameters include a mass of the gyroscope, two main-axis spring constants, a cross-axis spring constant, two main-axis damping coefficients, a cross-axis damping coefficient and an angular velocity. The mechanical imperfections cause the system parameters to deviate from the designed values and become unknown values. The gyroscope receives a single-axis control signal and outputs a plurality of gyroscopic system dynamics. The single-axis control signal includes at least two frequency signals. The state observer is coupled to the gyroscope to receive the gyroscopic system dynamics as the inputs thereof to feed back compensations to the state observer.

Abstract: An MEMS gyroscope is disclosed, capable of computing the rotating angle of a DUT being attached thereto without the need to execute an off-line calibration process, of precluding the execution of an integration process, and of executing an on-line compensation process for the error introduced by the sensing circuit defect and by the mechanical structure defect of its gyroscope module. The disclosed MEMS gyroscope comprises: a gyroscope module, a sensing module coupled with the gyroscope module, and a control module couple with the gyroscope module and the sensing module, respectively. The control module receives the system dynamic of the gyroscope module sensed by the sensing module, and applies a gyroscope control method for controlling the gyroscope module and computing the rotating angle of the DUT. Moreover, the control module outputs a control signal including two extra frequency signals, to the gyroscope module, for driving the gyroscope module into operation.

Abstract: An angle-measuring method includes: configuring a state observer to calculate a set of estimated signals based on a set of previously calculated estimated parameters; configuring the state observer to calculate a gain thereof using a dynamic equation associated with a gyroscope; configuring the state observer to calculate a set of currently calculated estimated parameters using the dynamic equation associated with the gyroscope based on the gain calculated by the state observer, a set of sensing signals generated by a sensing module, and the estimated signals calculated by the state observer; and configuring an angle calculator to calculate an angle of rotation of the gyroscope based on a position and a velocity in the currently calculated estimated parameters calculated by the state observer and a stiffness coefficient of the gyroscope. An angle-measuring gyroscope system that implements the angle-measuring method is also disclosed.

Abstract: The present invention proposes a single-axis-control-input gyroscope system having imperfection compensation, which comprises a gyroscope and a state observer. The gyroscope includes a mechanical structure, and the dynamic behavior of the mechanical structure is described with a plurality of system parameters and a plurality of dynamic equations. The system parameters include a mass of the gyroscope, two main-axis spring constants, a cross-axis spring constant, two main-axis damping coefficients, a cross-axis damping coefficient and an angular velocity. The mechanical imperfections cause the system parameters to deviate from the designed values and become unknown values. The gyroscope receives a single-axis control signal and outputs a plurality of gyroscopic system dynamics. The single-axis control signal includes at least two frequency signals. The state observer is coupled to the gyroscope to receive the gyroscopic system dynamics as the inputs thereof to feed back compensations to the state observer.

Abstract: An MEMS gyroscope is disclosed, capable of computing the rotating angle of a DUT being attached thereto without the need to execute an off-line calibration process, of precluding the execution of an integration process, and of executing an on-line compensation process for the error introduced by the sensing circuit defect and by the mechanical structure defect of its gyroscope module. The disclosed MEMS gyroscope comprises: a gyroscope module, a sensing module coupled with the gyroscope module, and a control module couple with the gyroscope module and the sensing module, respectively. The control module receives the system dynamic of the gyroscope module sensed by the sensing module, and applies a gyroscope control method for controlling the gyroscope module and computing the rotating angle of the DUT. Moreover, the control module outputs a control signal including two extra frequency signals, to the gyroscope module, for driving the gyroscope module into operation.

Abstract: An angle-measuring method includes: configuring a state observer to calculate a set of estimated signals based on a set of previously calculated estimated parameters; configuring the state observer to calculate a gain thereof using a dynamic equation associated with a gyroscope; configuring the state observer to calculate a set of currently calculated estimated parameters using the dynamic equation associated with the gyroscope based on the gain calculated by the state observer, a set of sensing signals generated by a sensing module, and the estimated signals calculated by the state observer; and configuring an angle calculator to calculate an angle of rotation of the gyroscope based on a position and a velocity in the currently calculated estimated parameters calculated by the state observer and a stiffness coefficient of the gyroscope. An angle-measuring gyroscope system that implements the angle-measuring method is also disclosed.