Robust Drive-Train Test Bench Control Framework via Hardware-in-the-Loop with Mechanical Inertia Emulation Capability

This paper presents a concept of Hardware-in-the-Loop drive-train control framework that includes mechanical inertia emulation capability, developed specifically for wind turbines generator testing. The focus lies in the suppression and simulation in and around torsional modes of the physical system and reference model, respectively. Through a suitable control strategy, the fulfilment of requirements related to the mechanical emulation task is achieved by means of a feed-forward configuration. This presented solution approaches the problem by dissecting it into two sub-goals. The first demand is to suppress test rig dynamics, i.e. damping of test rig natural modes, to provide a smooth environment on which the desired dynamic can be superimposed, purpose of the second sub-demand. Dynamic emulation is developed within an advanced framework that presents robustness without neglecting high-performance, key-points for testing facilities addressed to industrial applications. Finally, a feedback signal is added to the actuating variable, on the one hand to guarantee closed-loop stability in case of model uncertainties, on the other hand to increase dynamic simulation capabilities.