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A method for active control of pantograph based on state feedback and accurate linearization

A state feedback and active control technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of weakening the target contact pressure and failure to control the model, so as to reduce the coupling vibration between pantograph and catenary, and ensure Operational safety effect

Active Publication Date: 2019-01-22
SOUTHWEST JIAOTONG UNIV
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Problems solved by technology

[0005] To sum up, the existing literature not only requires the empirical design of key parameters in the control strategy design, but cannot carry out precise model control through strict theoretical analysis, but also inevitably weakens the role of the target contact pressure, such as For the LQR optimization design, its dynamic optimal contact pressure is dynamically adjusted by the state weighting matrix and the control weight coefficient

Method used

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  • A method for active control of pantograph based on state feedback and accurate linearization
  • A method for active control of pantograph based on state feedback and accurate linearization
  • A method for active control of pantograph based on state feedback and accurate linearization

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Embodiment

[0063] A pantograph active control method based on state feedback accurate linearization, comprising the following steps:

[0064] The ternary pantograph-catenary coupling dynamic model is as follows: figure 1 As shown, the model is subjected to force analysis, and the pantograph-catenary simplified coupling dynamic equation can be obtained:

[0065]

[0066] Take the state vector:

[0067] Input variable: u(t)=F;

[0068] Then, the state equation of pantograph-catenary coupled nonlinear control system is as follows:

[0069]

[0070] in,

[0071]

[0072]

[0073] C=[k(t) 0 0 0 0 0]

[0074]

[0075] W is used to simulate the excitation of the pantograph by the motor vehicle, which is white noise processing.

[0076] Let the output variable: y=h(x)=k(t)x 1 ;

[0077] Thus, the state equation of the affine nonlinear control system with single-input and single-output pantograph-catenary contact force suitable for the differential geometry method is obtaine...

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Abstract

The invention discloses a pantograph active control method based on state feedback accurate linearization, and the invention includes the following steps: (1) constructing a ternary pantograph-catenary coupling dynamics model; (2) state feedback linearization; (3) Find the linear equation to get the transfer function; (4) Zero-pole configuration. The invention actively controls the pantograph to reduce the coupling vibration between the pantograph and catenary, alleviates the occurrence of abnormal situations such as off-line, arcing and pantograph sliding plate wear caused by the violent fluctuation of the contact pressure between the pantograph and catenary, and ensures that the train safe operation.

Description

technical field [0001] The invention relates to an active control method for a pantograph, in particular to an active control method for a pantograph based on accurate linearization of state feedback. Background technique [0002] In recent years, the research and application of high-speed rail technology has developed rapidly, which has effectively improved the shortage of railway passenger transport capacity. The main characteristics of high-speed trains are fast running speed and complex pantograph-catenary coupling. Therefore, higher requirements are put forward for the pantograph-catenary system in terms of vibration, noise, and flow quality. With the further increase of train running speed, the coupling vibration between pantograph and catenary will become more severe, and the violent fluctuation of contact pressure between pantograph and catenary systems will cause off-line, arcing and wear of pantograph slides, which will seriously affect the flow quality and affect ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 庄哲林建辉施莹黄衍刘泽潮杨恒
Owner SOUTHWEST JIAOTONG UNIV
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