Robust Predictive Control of High-Speed Pantograph Based on State Estimation
Zhang Jing1, Song Baolin2, Xie Songlin2, Zhang Hantao2, Liu Zhigang2
1. School of Mechanical Engineering Southwest Jiaotong University Chengdu 611756 China; 2. School of Electrical Engineering Southwest Jiaotong University Chengdu 611756 China
Abstract：Pantograph-catenary system plays an important role in the process of obtaining electric energy for high-speed trains. The continuous and stable contact state between pantograph and catenary is the key factor to ensure high-quality power acquisition for high-speed trains. With the increase of train speed, the vibration between pantograph and catenary becomes more severe, and the current collection quality becomes worse. In order to reduce the vibration of pantograph and improve the current collection quality, a robust predictive control strategy based on state estimation was proposed. Firstly, in order to obtain the pantograph state in complex electromagnetic environment, a method of state estimation of pantograph based on robust Kalman filter was proposed. Then, The integral of contact force tracking error was extended to the state space equation of pantograph catenary system, and a robust predictive controller was designed based on the control variables and output variables constraints. Finally, in the nonlinear pantograph catenary model, the effectiveness and robustness of the controller under different working conditions were verified. The simulation results show that the proposed state estimation method can accurately obtain the pantograph state, and the controller can reduce the standard deviation of pantograph catenary contact force and improve the pantograph catenary current collection quality of high-speed trains when the pantograph parameters are perturbed.
张静, 宋宝林, 谢松霖, 张翰涛, 刘志刚. 基于状态估计的高速受电弓鲁棒预测控制[J]. 电工技术学报, 2021, 36(5): 1075-1083.
Zhang Jing, Song Baolin, Xie Songlin, Zhang Hantao, Liu Zhigang. Robust Predictive Control of High-Speed Pantograph Based on State Estimation. Transactions of China Electrotechnical Society, 2021, 36(5): 1075-1083.
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2021, Vol. 36 
