Active control of the pantograph is one of the promising measures for decreasing fluctuation in the contact force between the pantograph and the catenary. In this paper, an estimator-based multiobjective robust control strategy is proposed for an active pantograph, which consists of a state estimator and a robust H∞ controller. The former serves as an essential tool for obtaining the states of the pantograph considering randomly missing measurements, and the latter is employed for decreasing the contact force fluctuation considering the limitation of the control force and collector uplift. Control performance is evaluated by implementing the control strategy with a nonlinear pantograph–catenary system model, in which the catenary is modeled based on nonlinear cable and truss elements. The robustness of the proposed control strategy is investigated under parameter perturbations and environmental disturbance, respectively. Furthermore, its advantage is verified by comparing it with an existing controller. Simulation results show that the control strategy can decrease the fluctuation in the contact force and reject parametric uncertainties and stochastic wind field.
WangHLiuZSongYet al.Detection of contact wire irregularities using a quadratic time-frequency representation of the pantograph-catenary contact force. IEEE Trans Instrum Meas2016; 65: 1385–1397.
2.
LeeHParkWOhKet al.Analysis of dynamic interaction between catenary and pantograph with experimental verification and performance evaluation in new high-speed line. Veh Syst Dyn2015; 53: 1117–1134.
3.
NåvikPRønnquistAStichelS. The use of dynamic response to evaluate and improve the optimization of existing soft railway catenary systems for higher speeds. Proc IMechE, Part F: J Rail and Rapid Transit2016; 230: 1388–1396.
4.
LiuZJönssonPAStichelSet al.Implications of the operation of multiple pantographs on the soft catenary systems in Sweden. Proc IMechE, Part F: J. Rail and Rapid Transit2016; 230: 971–983.
5.
AllottaBPugiLBartoliniF. An active suspension system for railway pantographs: The T2006 prototype. Proc. IMechE, Part F: J. Rail and Rapid Transit2009; 223: 15–29.
6.
PisanoAUsaiE. Contact force regulation in wire-actuated pantographs via variable structure control and frequency-domain techniques. Int J Control2008; 81: 1747–1762.
7.
CollinaAFacchinettiARestaF. A feasibility study of an aerodynamic control for a high speed pantograph. In: AIM 2007, Zurich, Switzerland, 4–7 September 20071–6.
8.
FacchinettiAMauriM. Hardware-in-the-loop overhead line emulator for active pantograph testing. IEEE Trans Ind Electron2009; 56: 4071–4078.
9.
SanchezRCJimenezJRCarniceroA. Active control strategy on a catenary-pantograph validated model. Veh Syst Dyn2013; 51: 554–569.
10.
YamashitaYIkedaM. Advanced active control of contact force between pantograph and catenary for high-speed trains. Q Rep RTRI2012; 53: 28–33.
11.
PisanoAUsaiE. Output feedback regulation of the contact force in high-speed train pantographs. J Dyn Syst-Trans ASME2004; 126: 82–87.
12.
LinCShiehCLiuT. Optimal control for rail vehicle pantograph systems with actuator delays. IET Control Theory A2015; 9: 1917–1926.
13.
LinCLinLYangC. Robust active vibration control for rail vehicle pantograph. IEEE Trans Veh Technol2007; 56: 1994–2004.
14.
WaltersSRachidAMpandaA. On modelling and control of pantograph catenary systems. In: PACIFIC 2011, Amiens, France, 8 December 20111–10.
15.
CorrigaGGiuaAMattaWet al.Frequency-shaping design of a gain-scheduling controller for pantographs. In: CDC 1994, Florida, USA, 14–16 December 1994393–398.
16.
ChaterEGhaniDGiriFet al.Output feedback control of pantograph-catenary system with adaptive estimation of catenary parameters. J Modern Transport2015; 23: 252–261.
17.
ZamesG. Feedback and optimal sensitivity: Model reference transformations, multiplicative semi norms, and approximate inverses. IEEE Trans Autom Control1981; 26: 301–320.
18.
DoyleCGloverKKhargonekarPet al.State-space solutions to standard H2 and H∞ control problems. IEEE Trans Autom Control1989; 34: 831–847.
GahinetPApkarianP. A linear matrix inequality approach to H∞ control. Int J Robust Nonlin1994; 4: 421–448.
21.
ChenHGuoKH. Constrained H∞ control of active suspensions: an LMI approach. IEEE Trans Control Syst Technol2005; 13: 412–421.
22.
ZhaoYSunWGaoH. Robust control synthesis for seat suspension systems with actuator saturation and time-varying input delay. J Sound Vib2010; 329: 4335–4353.
23.
GaoHSunWShiP. Robust sampled-data control for vehicle active suspension systems. IEEE Trans Control Syst Technol2010; 18: 238–245.
24.
WangYChenZWangXet al.An estimator-based distributed voltage-predictive control strategy for AC islanded microgrids. IEEE Trans Power Electron2015; 30: 3934–3951.
25.
SinopoliBSchenatoLFranceschettiMet al.Kalman filtering with intermittent observations. IEEE Trans Autom Control2004; 49: 1453–1464.
26.
MohamedSNahavandiS. Robust finite-horizon Kalman filtering for uncertain discrete-time systems. IEEE Trans Autom Control2012; 57: 1548–1552.
27.
ZhouT. Robust recursive state estimation with random measurement droppings. IEEE Trans Autom Control2016; 61: 156–171.
28.
SongYLiuZWangHet al.Nonlinear analysis of wind-induced vibration of high-speed railway catenary and its influence on pantograph-catenary interaction. Veh Syst Dyn2016; 54: 723–747.
29.
SongYLiuZWangHet al.Nonlinear modelling of high-speed catenary based on analytical expressions of cable and truss elements. Veh Syst Dyn2015; 53: 1455–1479.
30.
EN 50318: 2012. Railway applications-current collection system-validation of simulation of the dynamic interaction between pantograph and overhead contact line.
31.
ThReichmann. Dynamic performance of pantograph/overhead line interaction for 4 span overlaps-TPS/OCS portion. In: SIEMENS2006; 4–21.
32.
BruniSAmbrosioJCarniceroAet al.The results of the pantograph-catenary interaction benchmark. Veh Syst Dyn2015; 53: 412–435.
33.
ZhangQSijunYYanLet al.An enhanced LMI approach for mixed H2/H∞ flight tracking control. Chinese J Aeronaut2011; 24: 324–328.
34.
KiesslingFPuschmannRSchmiederAet al.Contact lines for electric railways: Planning, design, implementation, maintenance, Erlangen, Germany: Publicis Publishing, 2009.
35.
KiaSHBartoliniFMpanda-MabweAet al.Pantograph-catenary interaction model comparison. In: IECON 2010, Glendale, AZ, USA, 7–10 November 20101584–1589.
36.
AllottaBPugiLBartoliniF. Design and experimental results of an active suspension system for a high-speed pantograph. IEEE/ASME Trans Mech2008; 13: 548–557.
37.
CollinaAFacchinettiAFossatiFet al.An application of active control to the collector of a high-speed pantograph: Simulation and laboratory tests. In: CDC 2005, Spain: Seville12–15 December 2005, Seville, Spain, pp.4602–4609.
38.
EN 50119: 2009. Railway applications-fixed installations-electric traction overhead contact line.
39.
EN 50367: 2006. Railway applications-current collection systems-technical criteria for the interaction between pantograph and overhead line.
