Abstract
When two electric multiple units are non-electrically connected together for improving the transport capacity in high-speed railways, double pantographs frequently operate simultaneously to decrease the current capacity on a single pantograph collector. In this case, the contact force between the trailing pantograph and the catenary severely fluctuates due to the wave propagation along the catenary triggered by the leading pantograph. Therefore, this paper proposes two estimator-based H ∞ control strategies for active double-pantograph to decrease the contact force fluctuation considering the actuator time delay. To obtain the pantograph states, a robust recursive state estimation method is presented, which can effectively deal with randomly missing measurements. In addition, to overcome parametric uncertainties and non-differentiable actuator time delay, two robust multi-objective H ∞ controllers involving linear matrix inequalities are introduced according to whether the time delay can be predetermined or not. The effectiveness and robustness of the control strategies are investigated through implementing a nonlinear double-pantograph-catenary system model. Simulation results show that, for both the leading pantograph and the trailing pantograph, the proposed control strategies can decrease the contact force fluctuation with high efficiency even though the actuator time delay exists.
Highlights
For greater economic and social benefits, the electrified railway industry is extensively expanding in many countries
Motivated by the above analyses, the main contributions of this paper are as follows: (1) Two estimator-based robust multi-objective state feedback control strategies for active double-pantograph in double-pantograph-catenary system (DPCS) are proposed, (2) the actuator time delay is considered in the control strategies based on whether it can be predetermined, and (3) the effectiveness and robustness of the control strategies are investigated in detail with a nonlinear DPCS model
It can be seen that contact force fluctuation is decreased by the control strategy II even though the parametric uncertainties appear in each step and the time delay is up to 40 ms
Summary
For greater economic and social benefits, the electrified railway industry is extensively expanding in many countries. Keywords Contact force fluctuation, active double-pantograph, actuator time delay, robust recursive state estimation, multiobjective H1, control In this paper, based on the state feedback H1 control framework, the time delay of active pantograph actuator is explicitly considered according to whether it can be predetermined or not.
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