Abstract
This paper presents an innovative power hardware-in-the-loop (PHiL) development platform for railway pantograph testing. A novel real-time-capable finite-element catenary model is proposed in a train-fixed moving-coordinate formulation combined with an efficient absorbing boundary layer to accurately depict railway catenary dynamics in the region around the pantograph contact point. The complex catenary dynamics is accurately and efficiently modeled, including nonlinear effects like dropper slackening, and a model-predictive impedance controller realizes the task of accurately emulating the virtual catenary dynamics on a real-world pantograph test rig.
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