Research On Optimization Of Pantograph Parameters And Active Control Under Operating Conditions Of Rigid Catenary

With the rapid development of China’s railway industry,the rigid suspension catenary is gradually adopted in the low clearance tunnel of the existing railway electrification transformation and the long tunnel of the new general speed railway.The rigid suspension catenary has gradually become an important equipment in the train traction power supply system.The stable sliding contact between pantograph and catenary is an important condition for the safe and smooth operation of train.One of the important signs is the fluctuation of contact force.However,in recent years,with the continuous innovation of various aspects of the railway system technology,the train running speed has gradually increased,resulting in the coupling vibration between pantograph and catenary is more and more severe,which seriously affects the current collection quality of the train,and then leads to the poor energy supply capacity of the vehicle traction equipment.Therefore,based on the dynamic model of the rigid catenary,this thesis studies the parameters optimization and active control of pantograph,in order to improve the coupling performance of pantograph and rigid catenary and improve the quality of current collection.It mainly includes the following contents:Firstly,the dynamic model of rigid catenary is established based on the mode superposition method,and the multi-body model of pantograph is established based on the relative coordinate method.The coupling between pantograph and catenary model is carried out by penalty function method,and solved by Newmark display integral numerical method.The reliability of the model is verified by the measured circuit data and related standards.Then,based on the pantograph’s 3-DOF model-rigid catenary coupling model,the matching relationship between the equivalent mass of the bow head and the suspension stiffness parameters under single variation and multi-parameter coupling was studied.Taking the random statistical characteristics of contact force as the objective function of parameter optimization,the sensitivity analysis of some equivalent parameters of pantograph frame was carried out,and the optimized design of pantograph was further carried out,and the optimization results were compared with the original pantograph as reference.Then,the linear system model of pantograph and rigid catenary is established,and the optimal controller and backstepping controller are designed respectively.Aiming at the unmeasured velocity state in the system,an observer is designed to reconstruct it.Considering the parameter mismatch of pantograph model and the external excitation problem,the robustness of the designed controller is verified.Finally,an active PID controller is designed based on the nonlinear pantograph and catenary model,and the influence of the control feedback parameters and the time delay of the actuator and sensor on the performance of the contact force control is studied.Considering the control time delay problem,the fuzzy rules of the traditional fuzzy adaptive PID controller are improved,and the dynamic predictive fuzzy adaptive PID controller is designed combined with the predictive control,which greatly improves the control efficiency of contact force under the condition of time delay,in order to provide reference for the engineering application of active control pantograph.