Study And Apply On Semi-active Control Method For High-Speed Trains Pantograph

With China's railway entering the era of high-speed,the development of high-speed train has led the world.High-speed train is a large system,which faces the problem about pantograph and catenary,wheel/rail relations,fluid-structure interaction relations,and many other challenges.The pantograph-catenary system is the power source of the high speed train,and the operation safety and reliability of the train is directly influenced by current carrying performance of pantograph-catenary system.This thesis researches the influence to the current carrying performance of pantograph-catenary system from the aerodynamic characteristics of pantograph,the body vibration of car,the flexure of the pantograph head and the nonlinearity contact of pantograph and catenary.The main contents are as follows:(1)A dynamical nonlinear coupled model of pantograph-catenary system is established.Based on aerodynamic theory,the pantograph aerodynamic characteristics is analyzed.The body vibration of high-speed is simulated by white noise.Based on the parameters vibration nonlinear flexible of the pantograph-head and nonlinear of the pantograph-catenary system are analyzed,thus the ternary coupled nonlinear dynamical model of pantograph-catenary system is established.(2)According to the evaluation standard about current carrying performance of pantograph-catenary,the current carrying performance of pantograph-catenary is analyzed.The train running speed,aerodynamic,catenary span,static pantograph lift,quality of pantograph-head is mainly analyzed.Those factors influence the dynamic current carrying performance of the pantograph-catenary system.This part lays a foundation for reasonable design of the controller in the next step.(3)Fuzzy direct adaptive sliding mode controller is designed.Aiming at the nonlinear interconnections and unknown dynamic terms in the pantograph catenary coupling system model,a direct fuzzy sliding mode adaptive controller is designed by introducing the fuzzy universal approximation lemma and the sliding mode variable structure method.The error estimation module is added to the system to ensure that the tracking error of the system and the fuzzy approximation error are globally convergent to any small neighborhood.(4)The Hrovat optimal control algorithm is adopted to simulate the action mode of electromagnetic damper,and the semi-active nonlinear control model of pantograph catenary is built.The current carrying quality of pantograph-catenary system is improved by optimizing control algorithm.The influence of PID semi-active control,fuzzy semi-active control and fuzzy-PID semi-active control on the vibration performance of the pantograph network is studied.The comparison of the simulation shows that,in the active control,the fuzzy-PID control effect is better,PID control effect is poorer;in the semi-active control,the semi-active fuzzy-PID control effect is better,PID the semi-active control effect is poorer;But those control methods were superior to passive control.Current carrying performance of pantograph-catenary can be improved by optimizing the control algorithm.