Multi-objective robust control method for high-speed railway pantograph type current collector based on state estimation

A high-speed railway and state estimation technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems affecting the power supply of vehicle traction equipment, pantograph-catenary contact force fluctuations, and increasing the running speed of high-speed rail

Inactive Publication Date: 2019-08-06
SOUTHWEST JIAOTONG UNIV
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Problems solved by technology

As the operating speed of the high-speed rail increases, the pantograph-catenary contact force fluctuation becomes more serious, seriously affecting the power supply of the vehicle traction equipment

Method used

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  • Multi-objective robust control method for high-speed railway pantograph type current collector based on state estimation
  • Multi-objective robust control method for high-speed railway pantograph type current collector based on state estimation
  • Multi-objective robust control method for high-speed railway pantograph type current collector based on state estimation

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Embodiment Construction

[0073] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments. like Figure 1-2 As shown, a high-speed railway pantograph multi-objective robust control method based on state estimation includes the following steps:

[0074] Step A: Construct a nonlinear pantograph-catenary model.

[0075] High-speed railways generally adopt the electric traction method, and the pantograph takes the current from the catenary. Therefore, the sliding contact state and dynamic coupling relationship between the pantograph and the catenary are the key factors affecting the energy acquisition of the train. In order to facilitate the formulation and effectiveness of the problem In the study, a nonlinear pantograph-catenary model was constructed first.

[0076] The dynamic equation of the pantograph is:

[0077]

[0078] Where: x 1 、x 2 and x 3 Respectively represent the displacement of the bow head, upper frame a...

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Abstract

The invention discloses a multi-objective robust control method for a high-speed railway pantograph type current collector based on state estimation. The multi-objective robust control method comprises the steps of: firstly, constructing a nonlinear pantograph type current collector-catenary model, and then constructing a control-oriented pantograph-catenary system model according to the nonlinearpantograph type current collector-catenary model to obtain a state-space equation under the pantograph-catenary system; secondly, determining a pantoraph active control target, and performing equation treatment on the control target; adding process noise and measured noise into the state-space equation according to the state-space equation under the pantograph-catenary system, so as to obtain anestimation-oriented discrete state equation; and finally, utilizing a space equation of the control target to design a multi-objective controller, and combining with an estimation result to obtain theoptimal active control force. The multi-objective robust control method studies the effectiveness and robustness of the control strategy in detail by means of the nonlinear pantograph-catenary model,and the control strategy still has good control performance under different operating conditions.

Description

technical field [0001] The invention relates to the technical field of pantograph active control, in particular to a multi-objective robust control method for high-speed railway pantographs based on state estimation. Background technique [0002] In recent years, high-speed rail technology has been receiving much attention. An important condition for the safe and reliable operation of high-speed railways is the stable sliding contact between the catenary and the pantograph. The dynamic performance of the catenary and the pantograph has a great impact on the current current-collecting quality of the locomotive, which is directly reflected in the pantograph- Fluctuations in catenary contact force. In fact, in addition to the influence of environmental disturbance, the fluctuation of contact force is mainly affected by the train speed. As the operating speed of the high-speed rail increases, the pantograph-catenary contact force fluctuation becomes more serious, which serious...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张静张翰涛程肥肥杨尊富左小红
Owner SOUTHWEST JIAOTONG UNIV
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