Optimal Control of Pantograph for High-Speed Railway Considering Actuator Time Delay
Xie Songlin1, Zhang Jing2, Song Baolin1, Liu Zhigang1, Gao Shibin1
1. School of Electrical Engineering Southwest Jiaotong University Chengdu 611756 China; 2. School of Mechnical Engineering Southwest Jiaotong University Chengdu 611756 China
Abstract：With the increasing speed of the high-speed train, the coupling vibration between the pantograph and catenary aggravates the fluctuation of the contact force, and deteriorates the current flow quality, which brings challenges to the safety and stability of the high-speed train. The active control of the pantograph can reduce the fluctuation of contact force and ensure the stable current flow of the high-speed train. However, there is the problem of actuator time-delay in the active control. To solve this problem, a control strategy considering actuator time delay was proposed. Based on the robust adaptive unscented Kalman filter, the estimation method was adopted to obtain the state information of pantograph in the time-varying noise environment. The contact force, collector acceleration and collector uplift were used as the measurement states to construct the design control performance output function. Considering the actuator time-delay, the optimal controller combined with the estimator was designed. With the parameter perturbation of the pantograph, the effectiveness and the robustness of the controller were verified by the nonlinear pantograph-catenary system model. The simulation results show that the controller can significantly reduce the fluctuation of the contact force even if the actuator time delay exists. In addition, the controller can guarantee the robustness under the influence of the pantograph parameters perturbation.
谢松霖, 张静, 宋宝林, 刘志刚, 高仕斌. 计及作动器时滞的高速铁路受电弓最优控制[J]. 电工技术学报, 2022, 37(2): 505-514.
Xie Songlin, Zhang Jing, Song Baolin, Liu Zhigang, Gao Shibin. Optimal Control of Pantograph for High-Speed Railway Considering Actuator Time Delay. Transactions of China Electrotechnical Society, 2022, 37(2): 505-514.
[1] Wang Hongrui, Liu Zhigang, Song Yang, et al.Detection of contact wire irregularities using a quadratic time-frequency representation of the pantograph-catenary contact force[J]. IEEE Transa- ctions on Instrumentation and Measurement, 2016, 65(6): 1385-1397. [2] 时光, 陈忠华, 郭凤仪, 等. 波动载荷下弓网接触电阻特性及建模研究[J]. 电工技术学报, 2019, 34(11): 2287-2295. Shi Guang, Chen Zhonghua, Guo Fengyi, et al.Research on characteristic of the contact resistance of pantograph-catenary under load fluctuation[J]. Transa- ctions of China Electrotechnical Society, 2019, 34(11): 2287-2295. [3] Chen Liming, Peng Peihuo, He Fan.Fatigue life analysis of dropper used in pantograph-catenary system of high-speed railway[J]. Advances in Mechanical Engineering, 2018, 10(5): 1-10. [4] Song Yang, Ouyang Huajiang, Liu Zhigang, et al.Active control of contact force for high-speed railway pantograph-catenary based on multi-body pantograph model[J]. Mechanism and Machine Theory, 2017, 115: 35-59. [5] Schirrer A, Aschauer G, Talic E, et al.Catenary emulation for hardware-in-the-loop pantograph testing with a model predictive energy-conserving control algorithm[J]. Mechatronics, 2017, 41: 17-28. [6] Song Yang, Liu Zhigang, Ouyang Huajiang, et al.Sliding mode control with PD sliding surface for high-speed railway pantograph-catenary contact force under strong stochastic wind field[J]. Shock and Vibration, 2017: 48953211-489532116. [7] 时光, 陈忠华, 郭凤仪, 等. 基于最优载荷的受电弓自适应终端滑模控制[J]. 电工技术学报, 2017, 32(4): 140-146. Shi Guang, Chen Zhonghua, Guo Fengyi, et al.Adaptive terminal sliding mode control of pantograph based on optimal load[J]. Transactions of China Electrotechnical Society, 2017, 32(4): 140-146. [8] 时光, 陈忠华, 刘健辰, 等. 基于伺服模型的受电弓LQR控制[J]. 电子测量与仪器学报, 2016, 30(7): 1120-1126. Shi Guang, Chen Zhonghua, Liu Jianchen, et al.Research of LQR control of pantograph based on servo model[J]. Journal of Electronic Measurement and Instrumentation, 2016, 30(7): 1120-1126. [9] Chater E, Ghani D, Giri F, et al.Output feedback control of pantograph-catenary system with adaptive estimation of catenary parameters[J]. Journal of Modern Transportation, 2015, 23(4): 252-261. [10] Lu Xiaobing, Liu Zhigang, Song Yang, et al.Estimator-based multi-objective robust control strategy for an active pantograph in high-speed railways[J]. Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit, 2018, 232(4): 1064-1077. [11] Liu Zhi, Liu Yicheng, Zhou Ning, et al.Backstepping controller design for pantograph-catenary system[C]// IOP Conference Series: Materials Science and Engineering, Chengdu, China, 2018: 12-45. [12] Wang Yanbo, Chen Zhe, Wang Xiongfei, et al.An estimator-based distributed voltage-predictive control strategy for AC islanded microgrids[J]. IEEE Transa- ctions on Power Electronics, 2015, 30(7): 3934-3951. [13] 谷苗, 夏超英, 田聪颖. 基于综合型卡尔曼滤波的锂离子电池荷电状态估算[J]. 电工技术学报, 2019, 34(2): 419-426. Gu Miao, Xia Chaoying, Tian Congying.Li-ion battery state of charge estimation based on com- prehensive Kalman filter[J]. Transactions of China Electrotechnical Society, 2019, 34(2): 419-426. [14] 刘芳, 马杰, 苏卫星, 等. 基于自适应回归扩展卡尔曼滤波的电动汽车动力电池全生命周期的荷电状态估算方法[J]. 电工技术学报, 2020, 35(4): 698-707. Liu Fang, Ma Jie, Su Weixing, et al.State of charge estimation method of electric vehicle power battery life cycle based on auto regress extended kalman filter[J]. Transactions of China Electrotechnical Society, 2020, 35(4): 698-707. [15] 王大方, 李琪, 张鹏, 等. 带有相电压补偿基于EKF的无传感器感应电机转速估计[J]. 电机与控制学报, 2019, 23(1): 35-44. Wang Dafang, Li Qi, Zhang Peng, et al.Speed estimation method based on extended Kalman filter with phase voltage compensation for sensorless ACIM drives[J]. Electric Machines and Control, 2019, 23(1): 35-44. [16] Yin Zhonggang, Gao Fengtao, Zhang Yanqing, et al.A review of nonlinear Kalman filter appling to sensorless control for AC motor drives[J]. CES Transactions on Electrical Machines and Systems, 2019, 3(4): 351-362. [17] 李扬, 李京, 陈亮, 等. 复杂噪声条件下基于抗差容积卡尔曼滤波的发电机动态状态估计[J]. 电工技术学报, 2019, 34(17): 3651-3660. Li Yang, Li Jing, Chen Liang, et al.Dynamic state estimation of synchronous machines based on robust cubature Kalman filter under complex measurement noise conditions[J]. Transactions of China Electro- technical Society, 2019, 34(17): 3651-3660. [18] 丁家琳, 肖建, 赵涛. 自适应CKF强跟踪滤波器及其应用[J]. 电机与控制学报, 2015, 19(11): 111-120. Ding Jialin, Xiao Jian, Zhao Tao.Adaptive CKF strong tracking filter and application[J]. Electric Machines and Control, 2015, 19(11): 111-120. [19] 颜湘武, 邓浩然, 郭琪, 等. 基于自适应无迹卡尔曼滤波的动力电池健康状态检测及梯次利用研究[J]. 电工技术学报, 2019, 34(18): 3937-3948. Yan Xiangwu, Deng Haoran, Guo Qi, et al.Study on the state of health detection of power batteries based on adaptive unscented Kalman filters and the battery echelon utilization[J]. Transactions of China Electro- technical Society, 2019, 34(18): 3937-3948. [20] 曲正伟, 董一兵, 王云静, 等. 用于电力系统动态状态估计的改进鲁棒无迹卡尔曼滤波算法[J]. 电力系统自动化, 2018, 42(10): 87-92. Qu Zhengwei, Dong Yibing, Wang Yunjing, et al.Improved robust unscented Kalman filtering algorithm for dynamic state estimation of power systems[J]. Automation of Electric Power Syetems, 2018, 42(10): 87-92. [21] Sakthivel R, Selvi S, Mathiyalagan K.Fault-tolerant sampled-data control of flexible spacecraft with probabilistic time delays[J]. Nonlinear Dynamics, 2015, 79(3): 1835-1846. [22] Wang Gang, Chen Changzheng, Yu Shenbo.Robust non-fragile finite-frequency H∞ static output- feedback control for active suspension systems[J]. Mechanical Systems and Signal Processing, 2017, 91: 41-56. [23] Kamalapurkar R, Fischer N, Obuz S, et al.Time- varying input and state delay compensation for uncertain nonlinear systems[J]. IEEE Transactions on Automatic Control, 2016, 61(3): 834-839. [24] Song Yang, Liu Zhigang, Wang Hongrui, et al.Nonlinear modelling of high-speed catenary based on analytical expressions of cable and truss elements[J]. Vehicle System Dynamics, 2015, 53(10): 1455-1479. [25] Kiessling F, Puschmann R, Schmieder A, et al.Contact lines for electric railways, planning, design, implementation, maintenance[M]. Erlangen: Publicis Publishing, 2009. [26] Afshari H H, Gadsden S A, Habibi S.Gaussian filters for parameter and state estimation: a general review of theory and recent trends[J]. Signal Processing, 2017, 135: 218-238. [27] Ali Mehrjouyan, Alireza Alfi.Robust adaptive unscented Kalman filter for bearings-only tracking in three dimensional case[J]. Applied Ocean Research, 2019, 87: 223-232.
2022, Vol. 37 
