Modeling and robust control of a high speed train pantograph

Abstract

For high-speed trains, active control of the pantograph is crucial technology to collect electrical current from the overhead contact wire. In this paper, a mathematical model of the pantograph-catenary system is developed to design a controller, and then a sliding mode controller is proposed to regulate the contact force in the presence of variation in the equivalent stiffness of the catenary system. Although the proposed controller is based on the standard sliding mode control theory for output regulation problems, a design parameter is introduced to guarantee the existence of sliding mode from a practical point of view. Furthermore, the physical interpretation of the dynamics during sliding mode is given by analysis.

Robust control of pantograph‐catenary system: Comparison of 1‐DOF‐based and 2‐DOF‐based control systems

“…Some guidelines on how to select A e and C e are given. As analyzed in Section 3, the eigenvalues of A e are inferred by the FIGURE 7 Mechanism of active pantograph [9,32] frequency characteristics of uncertainties or disturbances. As for C e , it should be chosen to avoid unnecessary hidden modes in the general EID estimator and to guarantee that the closed-loop control system (31) may be internally stabilized.…”

“…A schematic picture of the active pantograph [32] is given by Figure 7. It is shown that a lumped model with possibly time-varying parameters is sufficient in describing the motion of the pantograph in the vicinity of the working configuration [33,34].…”

“…In this paper, the active pantograph is from the Railway Technical Research Institute of Japan[32]. The pantograph parameters were obtained from identification experiments conducted by the joint research of the Railway Technical Research Institute of Japan and the Niigata University of Japan[9].…”

An optimal servo system based on sliding mode for the contact force of an active pantograph

“…In order to regulate the contact force, the authors and the Railway Technical Research Institute have developed an active pantograph using a pneumatic actuator, and presented modelling and a robust regulator with a rigid frame model (Yokoyama et al, 2015). The points for controller design in that paper can be summarized as follows:…”