A double-pantograph active control method based on estimated H-infinity control

Abstract

The invention discloses a double-pantograph active control method based on estimated H-infinity control. The double-pantograph active control method comprises the following steps of step 1, constructing a nonlinear double-pantograph-catenary model; 2, constructing a pantograph-catenary system model oriented to control to obtain a state space equation under the double-pantograph-catenary model; 3,obtaining a state space equation according to the actuator time lag, the model uncertainty and the maximum control force; 4, adding process noise and measurement noise to obtain a state estimation space equation; 5, obtaining a multi-target controller according to the state estimation space equation obtained in the step 4, obtaining the optimal active control force according to the multi-target controller, and completing the active control of the double pantographs. According to the present invention, a multi-target controller considering actuator time lag is combined with a state estimator under a double-pantograph-catenary system, so that the contact force fluctuation of the actuator under the condition of time delay can be effectively reduced.

Description

technical field [0001] The invention relates to an active control method for double pantographs, in particular to an active control method for double pantographs based on estimated H∞ control. Background technique [0002] With the development of electrified railways, the economic benefits and transportation capacity have higher and higher requirements for electric locomotives; in order to achieve this goal, two EMUs often need to be connected together in China, due to the limitation of current capacity on the collector strip, This leads to the special condition that the double bows work at the same time; during the operation of the train, the influence of the front bow on the catenary indirectly affects the back bow through wave propagation, causing the contact force between the back bow and the catenary to fluctuate violently, causing serious problems ; Bucca et al. proposed to apply different lifting forces on the front and rear bows; Liu et al. proposed to adopt appropri...

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Problems solved by technology

[0002] With the development of electrified railways, the economic benefits and transportation capacity have higher and higher requirements for electric locomotives; in order to achieve this goal, two EMUs often need to be connected together in China, due to the limitation of current capacity on the collector strip, This leads to the special condition that the double bows work at the same time; during the operation of the train, the influence of the front bow on the catenary indirectly affects the back bow through wave propagation, causing the contact force between the back bow and the catenary to fluctuate violently, causing serious problems ; Bucca et al. proposed to apply different lifting forces on the front and rear bows; Liu et al. proposed to adopt appropriate pantograph spacing; Zhang et al. A lot of economic cost; at the same time, in the past research, many controller designs are developed for a single pantograph, such as PID control, sliding mode control, optimal control, fuzzy control, model predictive control, adaptive and robust fault-tolerant control, backstepping control, and feedforward control, etc.; however, these controllers may be inefficient in dual pantograph-catenary systems due to the complex structure and higher nonlinearity of the system; more importantly Unfortunately, the time delay of the actuator is not considered; Sanchez et al. discuss the effect of a small time delay (5ms), but how to overcome the larger actuator time delay is not mentioned in the previous controller.

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