Research On Dynamic Performance And Active Control Strategy Of Pantograph-catenary For Rail Vehicles

Rail transit has a large load,is comfortable and safe,and is the most important mode of transportation in China.The motive power of rail vehicles is mainly obtained through the pantograph-catenary system.The dynamic performance between pantographs and catenaries determines the stability of the rail vehicle’s flow.Nowadays,the demand for speed increase of rail vehicles is more and more urgent.The quality of pantograph-catenary system current flow quality is increasingly important for the stability of train operation.Therefore,it is more and more important to ensure the stability of the pantograph-catenary system and improve the quality of the pantograph-catenary system flow.This paper establishes a coupling model for the pantograph system,analyzes the effects of changes in different parameters on the dynamic characteristics of the pantograph,and studies the active control of the pantograph to achieve the purpose of improving the quality of current flow.This paper establishes a pantograph-catenary coupling model.The kinematic characteristics of pantograph were studied,the constitutive relationship of pantograph force was studied,and the equivalent model of pantograph was established.Considering the influence of suspension string damping on the characteristics of catenary,a catenary physical model was established.The Lagrangian equation was used to establish the differential equations of the vertical coupling motion of the pantograph-catenary system,and the damping,mass,and stiffness matrices of the bow-net model were obtained.The Newmark algorithm was used to solve the kinematic equations.Analyze the dynamic performance of the system under different pantograph-catenary structure parameters.Based on the established pantograph-coupling model,combined with the pantograph’s current quality evaluation criteria to analyze the changes in the stiffness,damping,mass of the pantograph bow head,catenary’s suspension string structure,tension system,span and other parameters.For the response of the pantograph vibration,a dynamic angle analysis of the pantograph-catenary motion and current receiving mass was performed.The dynamic performance of the pantograph-catenary system under active control was studied.A Simulink simulation model for pantograph movement was established,and based on this model,a simulation study of active control of the pantograph was performed.Using PID and fuzzy adaptive PID algorithms to study the active control of pantographs.Based on these two control algorithms,an improved proportional self-adjusting fuzzy PID control is proposed for active control research.The flow quality of the pantograph net before and after the pantograph control and the three control algorithms were compared and analyzed to verify the analysis and control effect.The influence of the pantograph active control system based on the magnetorheological damper on the dynamic performance and current quality of the pantograph is studied indepth.A fatigue machine was used to test the magnetorheological damper,and its performance characteristics were analyzed.Based on the results of performance tests,a forward and reverse dynamic model of the magnetorheological damper is established,and the model parameters are identified using a genetic algorithm.Combining the three proposed control algorithms,the magneto-rheological damper is used as the actuator of the pantograph active control system,and the pantograph semi-active control simulation analysis is performed to verify the analysis based on the control effect of pantograph active control system.The results show that proportional self-adjusting fuzzy PID has better control effect than fuzzy adaptive PID control.The fuzzy adaptive PID control effect is better than PID control,and the effect of active control is better than semi-active control.All three active control methods effectively suppress the fluctuation of contact force between the pantograph and catenary,and the current receiving quality is improved.It provides new ideas for improving the quality of pantograph-catenary current and the research of pantograph active control system.