计及作动器时滞的高速铁路受电弓最优控制

doi:10.19595/j.cnki.1000-6753.tces.200867

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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.

Key words： High-speed railway pantograph active control time delay state estimation measured state

Received: 17 July 2020

PACS:

TM571

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	Articles by authors
	Xie Songlin
	Zhang Jing
	Song Baolin
	Liu Zhigang
	Gao Shibin

Cite this article:

Xie Songlin,Zhang Jing,Song Baolin等. Optimal Control of Pantograph for High-Speed Railway Considering Actuator Time Delay[J]. Transactions of China Electrotechnical Society, 2022, 37(2): 505-514.

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https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.200867 OR https://dgjsxb.ces-transaction.com/EN/Y2022/V37/I2/505

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