A Robust Predictive Control Method for High-speed Railway Pantograph Based on State Estimation
A pantograph robust, high-speed railway technology, applied in non-electric variable control, adaptive control, general control system and other directions, can solve problems such as larger fluctuations, obstacles to improving comfort and reliability, and offline pantograph and catenary systems. To achieve the effect of reducing the mean square error
Inactive Publication Date: 2021-06-25
SOUTHWEST JIAOTONG UNIV
View PDF13 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
As the speed of the high-speed train increases, the complex coupling vibration between the pantograph and the catenary will become more severe, which is reflected in the increase in the fluctuation of the contact force and the sharp deterioration of the current quality. The fragile pantograph-catenary system has become a comfortable A serious obstacle to the improvement of sex and reliability
When the contact force fluctuates too much, the pantograph-catenary system is prone to off-line, arcing, etc., which makes the quality of current receiving worse, and the pantograph is also prone to failure and damage
When the contact force is too large, it not only increases the wear of the pantograph sliding plate, but also increases the operation and maintenance cost of the pantograph-catenary
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment
[0125] The following takes the pantograph DS380 and the Beijing-Tianjin line catenary as an example to describe in detail:
[0126] A. Establish a nonlinear pantograph-catenary model.
[0127] The smooth and continuous sliding contact state between the catenary and the pantograph is the key to the safe and reliable operation of the high-speed train and the quality of the pantograph-catenary current. In order to facilitate the formulation and research of the problem, a nonlinear pantograph-catenary Model. Such as figure 1 As shown, the pantograph adopts the reduced mass model (three-mass block), and its dynamic equation is obtained:
[0128]
[0129] The corresponding value is: k 1 =9430N / m,k 2 =14100N / m,k 3 =0.1N / m, c 1 = 0Ns / m, c 2 =0,c 3 =70Ns / m, m 1 =7.12k g , m 2 =6kg, m 3 =5.8kg;
[0130] The dynamic equation of catenary is:
[0131]
[0132] In the formula: M c represents the lumped mass matrix of the catenary, K c represents the overall stiffness m...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a high-speed railway pantograph robust predictive control method based on state estimation, specifically: establishing a nonlinear pantograph-catenary system model; constructing a control-oriented pantograph-catenary system model, and obtaining The state space equation under the pantograph-catenary system model; add the process noise and measurement noise to obtain the estimation-oriented discrete state equation; determine the active control target of the pantograph, in the state space equation of the pantograph-catenary system model Based on this, the integral of the contact force tracking error is extended to the state space equation of the pantograph-catenary system, and the state space equation under the augmented pantograph-catenary system model is obtained; then a robust predictive controller is designed; combined with the estimated As a result, active control is obtained. The present invention studies the effectiveness of the robust predictive control method through a nonlinear pantograph-catenary system model; and the control performance of the control method is still good under different working conditions.
Description
technical field [0001] The invention belongs to the technical field of pantograph active control, in particular to a state estimation-based robust predictive control method for high-speed railway pantographs. Background technique [0002] At present, high-speed trains generally use electric traction. The pantograph is a special equipment installed on the high-speed train to collect current from the catenary, so the stable contact state between the pantograph and the catenary is the key to ensure the high quality of the train's current flow. In the evaluation system of the flow quality of high-speed trains, the contact force is a very important index. As the speed of the high-speed train increases, the complex coupling vibration between the pantograph and the catenary will become more severe, which is reflected in the increase in the fluctuation of the contact force and the sharp deterioration of the current quality. The fragile pantograph-catenary system has become a comfor...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D15/01B60L5/18
CPCB60L5/18G05B13/048G05D15/01
Inventor 张静宋宝林谢松霖刘志刚
Owner SOUTHWEST JIAOTONG UNIV