H_∞ drive train control for hardware-in-the-loop simulation with a scaled dynamometer test bench

This paper presents the design and implementation of a robust drive train torque control for rotor inertia emulation in a dynamometer test bench application. The controller is part of a hardware-in-the-loop (HiL) framework for a 50 kW small test rig that enables a real-time interaction between test rig drive train and a rotor model. The control objective is to compensate undesired dynamics of the test rig, in order to guarantee emulation of model dynamics through HiL simulation within a desired bandwidth. Therefore, a robust H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> controller has been implemented taking advantage of the design in frequency domain. Furthermore, a Kalman filter has been incorporated providing the unmeasured variables in the presence of measurement noise. For the purpose of control performance evaluation, simulation results as well as experimental tests on the hardware are presented.