A pantograph control system for rail vehicles

Abstract

The present invention relates to the field of pantograph technology, specifically to a pantograph control system for a rail vehicle, the system comprising a contact quality monitoring module, a pantograph dynamic adjustment module, a pantograph performance evaluation module and a pantograph optimization control module. The present invention optimizes the efficiency and stability of power transmission through accurate measurement of track morphology and pantograph characteristics, real-time monitoring and analysis of contact pressure values, ensures that power transmission is carried out in an optimal state through continuous evaluation of contact status and dynamic adjustment of pantograph position, significantly reduces energy waste and improves system response speed, and introduces real-time performance evaluation and feedback mechanisms, so that each operation and adjustment is based on the latest performance data, allowing the system to continuously optimize itself, thereby improving overall operating efficiency and reliability, and optimizing the lifting speed and tilt angle of the pantograph through a refined control process, thereby improving the matching degree with the contact network.

Description

Technical Field

[0001] The invention relates to the technical field of pantographs, and in particular to a pantograph control system for a rail vehicle. Background Art

[0002] Pantographs are power transmission devices used in electrified rail vehicles. As a key component in electrified rail transit systems, pantographs are responsible for efficiently transmitting power from overhead cables to vehicles. This covers various mechanical and electrical properties of pantographs, including their dynamic contact performance, durability, and integration with vehicle control systems.

[0003] Among them, the rail vehicle pantograph control system involves a system for managing and optimizing the interaction between the pantograph and overhead wires. Its main purpose is to ensure a stable and efficient connection between the pantograph and the power line so that the rail vehicle can seamlessly receive the required power. By precisely controlling the rise and fall and contact pressure of the pantograph, it helps to maximize energy utilization efficiency, reduce operation and maintenance costs, and improve the reliability and performance of the entire electrified rail system.

[0004] The existing system lacks the ability to adjust and optimize in real time, so that under changing track conditions, the contact quality between the pantograph and the contact network is often affected, resulting in energy loss and increased operation and maintenance costs. Traditional control systems are slow to respond when dealing with contact problems under high-speed operation or severe weather conditions, and are unable to adjust the position of the pantograph in real time to maintain the best contact state, which in turn affects the power supply and operation safety of the entire vehicle. The monitoring and evaluation of pantograph performance in existing technologies mostly relies on periodic inspections rather than continuous monitoring, which limits the ability to prevent faults and perform immediate maintenance, which is particularly problematic during long-term operation and across regions. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings in the prior art and to propose a rail vehicle pantograph control system.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: a rail vehicle pantograph control system, the system comprising:

[0007] The contact quality monitoring module uses the pantograph contact pressure sensor to measure the contact pressure between the pantograph and the contact network based on the track morphology and pantograph characteristics, analyze the contact state of the pantograph, and evaluate the contact effect between the pantograph and the contact network to obtain the contact quality index;

[0008] The pantograph dynamic adjustment module adjusts the pantograph lifting mechanism based on the contact quality index, modifies its lifting speed and tilt angle, matches the optimal contact position, records the adjustment parameters, analyzes the effect of the lifting mechanism after adjustment, and obtains adjustment feedback data;

[0009] The pantograph performance evaluation module uses the adjustment feedback data to evaluate the current transmission efficiency and contact quality of the pantograph, compare the current and standard operating parameters, calculate the performance deviation, and evaluate the operating efficiency of the pantograph to obtain a performance evaluation record;

[0010] The pantograph optimization control module adjusts the PID control parameters of the pantograph based on the performance evaluation record, refines the pantograph control process, and continuously optimizes the pantograph operation parameters to obtain a parameter optimization control log.

[0011] The present invention is improved in that the analysis step of the contact state of the pantograph is specifically as follows:

[0012] Based on the track morphology and pantograph characteristics, the contact pressure value between the pantograph and the contact network is measured using a pantograph-catenary contact pressure sensor, real-time data collection is performed, and the collected data is normalized to obtain standardized contact pressure data;

[0013] To analyze the normalized contact pressure data, the formula is used:

[0014]

[0015] Calculate the pressure fluctuation and obtain the contact state analysis results, where: Represents the standard deviation of the contact pressure, which is used to evaluate the fluctuation of the contact pressure value. Representative The contact pressure value measured, Represents the average value of pressure, Represents the number of measurements.

[0016] The present invention is improved in that the step of obtaining the contact quality index is specifically as follows:

[0017] Based on the contact state of the pantograph and the contact pressure data monitored in real time, the formula is adopted:

[0018]

[0019] Calculate the deviation ratio of each measurement to the average value to obtain the contact effect evaluation record, where: is the contact quality index, Representative The contact pressure value measured, Represents the average value of pressure, is the number of measurements;

[0020] Based on the contact effect evaluation record, the contact quality is scored using a quantitative analysis method, and the contact quality index is obtained by combining the uniformity of the contact pressure, frequent pressure fluctuations and the impact on performance.

[0021] The present invention is improved in that the step of obtaining the adjustment feedback data is specifically as follows:

[0022] According to the adjusted pantograph lifting mechanism, key parameters in the adjustment process are monitored and recorded in real time, including lifting speed, tilt angle and voltage change data, to obtain a key parameter data set;

[0023] The key parameter data set is analyzed, and a time series analysis is performed on the relationship between the voltage response and the mechanical position adjustment to evaluate the immediate effect and stability of the adjustment and obtain the adjustment feedback data.

[0024] The present invention is improved in that the step of comparing the current and standard operating parameters is specifically as follows:

[0025] Utilizing the adjustment feedback data, extracting the real-time operating parameters of the pantograph, including current and voltage values, evaluating the current transmission efficiency and contact quality of the pantograph under different working conditions, and obtaining the current operating parameters;

[0026] Compare the current operating parameters with the standard operating parameters using the formula:

[0027]

[0028] Calculating the performance deviation index ,in, Represents the current operating parameters, represents standard operating parameters, is the number of parameters.

[0029] The present invention is improved in that the step of obtaining the performance evaluation record is specifically as follows:

[0030] Extract key operating parameters, including current, voltage and temperature, analyze the impact of operating parameters on operating efficiency under various working conditions, and obtain efficiency impact analysis results;

[0031] Based on the efficiency impact analysis results, the operating efficiency of the pantograph is evaluated to obtain a performance evaluation log.

[0032] The present invention is improved in that the steps of obtaining the parameter optimization control log are specifically as follows:

[0033] Analyzing the operating parameter data in the performance evaluation record, including real-time changes in current and voltage, determining the response characteristics of the pantograph under different conditions, identifying key parameters that need to be adjusted in PID control, and obtaining a PID control parameter set;

[0034] Based on the PID control parameter set, the response efficiency and stability of the pantograph are optimized using the formula:

[0035]

[0036] Get new PID parameters ,in, Represents the current control parameter value, is the current performance deviation, is the target performance deviation, It is the adjustment coefficient, which is used to control the step size of PID parameter adjustment;

[0037] Based on the new PID parameters, the pantograph control process is refined, the operation effect is monitored, and the pantograph operation parameters are continuously optimized to obtain a parameter optimization control log.

[0038] Compared with the prior art, the advantages and positive effects of the present invention are:

[0039] In the present invention, the efficiency and stability of power transmission are optimized through the precise measurement of track morphology and pantograph characteristics, and real-time monitoring and analysis of contact pressure values. Power transmission is ensured to be carried out in the optimal state through continuous evaluation of contact status and dynamic adjustment of pantograph position, which significantly reduces energy waste and improves system response speed. The introduction of real-time performance evaluation and feedback mechanism enables each operation and adjustment to be based on the latest performance data, allowing the system to continuously optimize itself, thereby improving the overall operating efficiency and reliability. Through a refined control process, the lifting speed and tilt angle of the pantograph are optimized, thereby improving the matching degree with the contact network. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a system flow chart of the present invention;

[0041] Figure 2 is a flow chart for analyzing the contact state of the pantograph in the present invention;

[0042] Figure 3 A flow chart for obtaining the contact quality index in the present invention;

[0043] Figure 4 A flowchart for obtaining feedback data for adjustment in the present invention;

[0044] Figure 5 A flow chart showing the comparison of current and standard operating parameters in the present invention;

[0045] Figure 6 A flowchart for obtaining performance evaluation records in the present invention;

[0046] Figure 7 This is a flow chart for obtaining parameter optimization control logs in the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0048] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating positions or positional relationships, are based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, in the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0049] Example

[0050] See also Figure 1 The present invention provides a technical solution: a rail vehicle pantograph control system comprising:

[0051] The contact quality monitoring module uses the pantograph contact pressure sensor to measure the contact pressure between the pantograph and the contact network based on the track morphology and pantograph characteristics, analyze the contact state of the pantograph, and evaluate the contact effect between the pantograph and the contact network to obtain the contact quality index;

[0052] The pantograph dynamic adjustment module adjusts the pantograph lifting mechanism based on the contact quality index, modifies its lifting speed and tilt angle, matches the optimal contact position, records the adjustment parameters, analyzes the effect of the lifting mechanism adjustment, and obtains adjustment feedback data;

[0053] The pantograph performance evaluation module uses the adjustment feedback data to evaluate the current transmission efficiency and contact quality of the pantograph, compare the current and standard operating parameters, calculate the performance deviation, and evaluate the operating efficiency of the pantograph to obtain a performance evaluation record;

[0054] The pantograph optimization control module adjusts the PID control parameters of the pantograph based on the performance evaluation records, refines the pantograph control process, and continuously optimizes the pantograph operating parameters to obtain the parameter optimization control log.

[0055] The contact quality indicators include contact pressure, current consistency, and voltage stability. The adjustment feedback data include adjustment compliance rate, response time, and stability evaluation results. The performance evaluation records include energy efficiency level, performance recovery index, and maintenance frequency. The parameter optimization control log includes adjustment effect records, parameter adjustment history, and efficiency improvement records.

[0056] See also Figure 2 , the analysis steps of the contact state of the pantograph are specifically as follows:

[0057] Based on the track morphology and pantograph characteristics, the contact pressure value between the pantograph and the contact network is measured using a pantograph-catenary contact pressure sensor, real-time data collection is performed, and the collected data is normalized to obtain standardized contact pressure data;

[0058] The track morphological characteristics are obtained by real-time monitoring of track geometric parameters, including track elevation, flatness, waveform and other parameters. The pantograph characteristics are identified by measuring its running posture, friction characteristics and geometric parameters. During the measurement process, the pantograph-catenary contact pressure sensor is installed at the connection between the pantograph and the contact network to record the contact force in real time. The collected pressure signal is converted into digital data. The sampled data of different time periods are sorted and averaged. The normalization processing includes dividing the measured data into specific intervals and converting them into dimensionless parameters to eliminate measurement errors and equipment deviations, and form complete standardized contact pressure data.

[0059] To analyze the normalized contact pressure data, the formula is used:

[0060]

[0061] Calculate the pressure fluctuation and obtain the contact state analysis results, where: Represents the standard deviation of the contact pressure, which is used to evaluate the fluctuation of the contact pressure value. Representative The contact pressure value measured, Represents the average value of pressure, represents the number of measurements;

[0062] There are 5 measurement data points, the specific pressure values ​​are: 100, 102, 98, 101 and 99, the average value is Calculated as , substitute into the formula to calculate the squared difference of each data point:

[0063]

[0064]

[0065]

[0066]

[0067]

[0068] Then calculate the sum of squared differences:

[0069]

[0070] Standard Deviation Calculated as:

[0071]

[0072] The results indicate that the pressure fluctuation is not large, showing that the contact state between the pantograph and the contact network is generally stable with low volatility, further indicating that a good performance state was maintained during the monitoring period.

[0073] See also Figure 3 , the steps for obtaining the contact quality index are specifically as follows:

[0074] Based on the contact state of the pantograph and the contact pressure data monitored in real time, the formula is adopted:

[0075]

[0076] Calculate the deviation ratio of each measurement to the average value to obtain the contact effect evaluation record, where: is the contact quality index, Representative The contact pressure value measured, Represents the average value of pressure, is the number of measurements;

[0077] The measured value sequence of contact pressure is ,average value for (Calculated: ), number of measurements , substitute into the formula and calculate the deviation ratio:

[0078]

[0079]

[0080]

[0081] Contact Quality Index:

[0082]

[0083] The result is 0.987, or 98.7%, indicating that the contact between the pantograph and the contact network is relatively uniform, and the contact effect evaluation result is good, which is conducive to maintaining stable operation of the system.

[0084] Based on the contact effect evaluation record, the contact quality is scored using a quantitative analysis method, and the contact quality index is obtained by combining the uniformity of the contact pressure, frequent pressure fluctuations and the impact on performance;

[0085] Combined with the monitored contact pressure uniformity data and the frequency changes of pressure fluctuations, the impact of pressure fluctuations on the overall performance of the pantograph and the contact network is evaluated. The specific implementation process includes preliminary zoning and classification of the pressure data, establishing a pressure fluctuation curve diagram based on the time series of the measured values, and then determining the pressure fluctuation range by calculating the standard deviation value of the contact pressure. Combined with the recorded time periods and locations of frequent pressure fluctuations, the contact quality is divided into several levels using classification standards. Each level is assigned a quantitative score according to its corresponding fluctuation range. Finally, the weighted score is calculated by combining different categories of pressure influencing factors through weight setting, such as fluctuation frequency weight and pressure stability weight. The score is compared with the preset performance level threshold, and the contact effect evaluation record is further corrected to complete the contact quality scoring and obtain the contact quality index.

[0086] See also Figure 4 , the specific steps for obtaining the adjusted feedback data are as follows:

[0087] According to the adjusted pantograph lifting mechanism, key parameters in the adjustment process are monitored and recorded in real time, including lifting speed, tilt angle and voltage change data, to obtain a key parameter data set;

[0088] Real-time monitoring and recording of key parameters in the adjustment process, including sensors installed on the lifting mechanism to measure the lifting speed and tilt angle, and real-time recording of the adjusted voltage change data through voltage sensors. During the adjustment process, parameter values ​​are collected every second at regular intervals, and all parameters are stored in a temporary data buffer to prevent data loss. In the monitoring link, real-time updates of mechanical and electrical signals are combined to identify the change points in the adjustment process. Finally, the time series data of the lifting speed, tilt angle and corresponding voltage changes are packaged and stored to generate a key parameter data set.

[0089] Analyze key parameter data sets, perform time series analysis on the relationship between voltage response and mechanical position adjustment, evaluate the immediate effect and stability of the adjustment, and obtain adjustment feedback data;

[0090] Firstly, each group of lifting speed, tilt angle and corresponding voltage data points in the time series are extracted, and the parameter change trend is preliminarily analyzed in chronological order to screen out the adjustment stages with obvious changes. By comparing the relationship between the data points, the correlation between the voltage fluctuation and the mechanical position adjustment is calculated. The piecewise linear regression method is used to extract the response interval in the adjustment process, and the immediate effect and long-term stability of the adjustment are evaluated. Finally, the analysis results are summarized as adjustment feedback data for subsequent optimization analysis and decision-making.

[0091] See also Figure 5 , the comparison steps between current and standard operating parameters are as follows:

[0092] By using the adjustment feedback data, the real-time operating parameters of the pantograph, including the current and voltage values, are extracted, the current transmission efficiency and contact quality of the pantograph under different working conditions are evaluated, and the current operating parameters are obtained;

[0093] By partitioning and extracting the operation logs of monitoring records, the current and voltage data points when operating under different environmental conditions are selected, sorted by timestamp and the operation parameter time series is established. The peak current and stable voltage data recorded by real-time monitoring are used as the main parameter source, and the outliers are eliminated and the correlation between the parameters is calculated. The calculation includes a weighted comparison of the average current, instantaneous voltage and working time. The results are integrated into a set of data sets reflecting the current transmission efficiency and contact quality to obtain the current operating parameters.

[0094] Compare the current operating parameters with the standard operating parameters using the formula:

[0095]

[0096] Calculating the performance deviation index ,in, Represents the current operating parameters, represents standard operating parameters, is the number of parameters;

[0097] There are three parameters, current (10A, 12A standard), voltage (110V, 115V standard), temperature (50℃, 45℃ standard), substitute them into the formula for calculation:

[0098]

[0099]

[0100]

[0101]

[0102]

[0103] The results show that the overall performance deviation between the current operating parameters and the standard parameters is 0.205, or 20.5%, indicating a certain decrease in operating efficiency or equipment maintenance needs.

[0104] See also Figure 6 , the specific steps for obtaining performance evaluation records are:

[0105] Extract key operating parameters, including current, voltage and temperature, analyze the impact of operating parameters on operating efficiency under various working conditions, and obtain efficiency impact analysis results;

[0106] Real-time records of current and voltage are called up in time series, the average values ​​and fluctuation ranges of the parameters at different time points are calculated, and the ambient temperature changes recorded in the equipment operation log are extracted. The data are classified according to working conditions, and the potential impact of the parameters on the operating efficiency of the pantograph is analyzed. A relationship model between the parameters and the operating efficiency is established, and the efficiency changes under different working conditions are summarized as efficiency impact analysis results.

[0107] Based on the efficiency impact analysis results, the operating efficiency of the pantograph is evaluated and a performance evaluation log is obtained;

[0108] The operating efficiency of the pantograph is evaluated, and the operating conditions with significant parameter fluctuations are selected as the key analysis objects. The overall operating efficiency is calculated using the weighted average method, and the actual efficiency value is calculated by combining the weights of the current and voltage fluctuation amplitudes. At the same time, the impact of the ambient temperature of each operating condition on the efficiency change is verified. All analysis data are sorted and summarized into a performance evaluation log in a unified format to form a log record containing operating condition efficiency data and operating conditions.

[0109] See also Figure 7 , the specific steps for obtaining parameter optimization control logs are:

[0110] Analyze the operating parameter data in the performance evaluation record, including the real-time changes of current and voltage, determine the response characteristics of the pantograph under different conditions, identify the key parameters that need to be adjusted in PID control, and obtain the PID control parameter set;

[0111] By extracting the changes in current and voltage in real time, combined with the pantograph operation mode under different environmental conditions, the numerical relationship of each group of parameters is analyzed point by point, the fluctuating part and the stable part of the parameters are separated, and each group of data is normalized to enable a unified analysis of the response characteristics under different conditions, compare the mutual influence of voltage and current changes, calculate the response delay and overshoot amplitude of the pantograph in dynamic adjustment, and finally identify the key parameters that need to be optimized in PID control, including proportional, integral and differential factors, to form a set of PID control parameters.

[0112] Based on the PID control parameter set, the response efficiency and stability of the pantograph are optimized using the formula:

[0113]

[0114] Get new PID parameters ,in, Represents the current control parameter value, is the current performance deviation, is the target performance deviation, It is the adjustment coefficient, which is used to control the step size of PID parameter adjustment;

[0115] The following data was collected, current PID parameters is 2.5, the current performance deviation is 0.05, the target performance deviation The adjustment coefficient is 0.02. is 1.0, substitute it into the formula for calculation:

[0116]

[0117]

[0118]

[0119]

[0120] The results show that the new PID parameters It is 2.53, reflecting that the control system can be fine-tuned through adjustment to achieve a better performance state.

[0121] Based on the new PID parameters, the pantograph control process is refined, the operation effect is monitored, and the pantograph operation parameters are continuously optimized to obtain the parameter optimization control log;

[0122] First, by monitoring the operating performance of the pantograph in real time, recording the changes in current and voltage, dynamically adjusting the control strategy to optimize the operating process, setting up multiple test scenarios to observe the response effects under different PID parameters, and analyzing the operating characteristics of the pantograph by recording the adjusted voltage recovery time, steady-state current value and dynamic volatility, the operation records and monitoring data are integrated to generate a parameter optimization control log, which records in detail the key parameters after each adjustment and the corresponding performance change trends, providing data support for subsequent system optimization.

[0123] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in other forms. Any technician familiar with the profession may use the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes and apply them to other fields. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A rail vehicle pantograph control system, characterized in that: The system comprises: The contact quality monitoring module uses the pantograph contact pressure sensor to measure the contact pressure between the pantograph and the contact network based on the track morphology and pantograph characteristics, analyze the contact state of the pantograph, and evaluate the contact effect between the pantograph and the contact network to obtain the contact quality index; The analysis steps of the contact state of the pantograph are specifically as follows: Based on the track morphology and pantograph characteristics, the contact pressure value between the pantograph and the contact network is measured using a pantograph-catenary contact pressure sensor, real-time data collection is performed, and the collected data is normalized to obtain standardized contact pressure data; To analyze the normalized contact pressure data, the formula is used: Calculate the pressure fluctuation and obtain the contact state analysis results, where: Represents the standard deviation of the contact pressure, which is used to evaluate the fluctuation of the contact pressure value. Representative The contact pressure value measured, Represents the average value of pressure, represents the number of measurements; The steps for obtaining the contact quality index are specifically as follows: Based on the contact state of the pantograph and the contact pressure data monitored in real time, the formula is adopted: Calculate the deviation ratio of each measurement to the average value to obtain the contact effect evaluation record, where: is the contact quality index, Representative The contact pressure value measured, Represents the average value of pressure, is the number of measurements; Based on the contact effect evaluation record, the contact quality is scored using a quantitative analysis method, and the contact quality index is obtained by combining the uniformity of the contact pressure, frequent pressure fluctuations and the impact on performance; The pantograph dynamic adjustment module adjusts the pantograph lifting mechanism based on the contact quality index, modifies its lifting speed and tilt angle, matches the optimal contact position, records the adjustment parameters, analyzes the effect of the lifting mechanism after adjustment, and obtains adjustment feedback data; The pantograph performance evaluation module uses the adjustment feedback data to evaluate the current transmission efficiency and contact quality of the pantograph, compare the current and standard operating parameters, calculate the performance deviation, and evaluate the operating efficiency of the pantograph to obtain a performance evaluation record; The pantograph optimization control module adjusts the PID control parameters of the pantograph based on the performance evaluation record, refines the pantograph control process, and continuously optimizes the pantograph operation parameters to obtain a parameter optimization control log.

2. The rail vehicle pantograph control system according to claim 1, characterized in that: The steps of obtaining the adjustment feedback data are specifically as follows: According to the adjusted pantograph lifting mechanism, key parameters in the adjustment process are monitored and recorded in real time, including lifting speed, tilt angle and voltage change data, to obtain a key parameter data set; The key parameter data set is analyzed, and a time series analysis is performed on the relationship between the voltage response and the mechanical position adjustment to evaluate the immediate effect and stability of the adjustment and obtain the adjustment feedback data.

3. The rail vehicle pantograph control system according to claim 1, characterized in that: The steps of comparing the current and standard operating parameters are specifically as follows: Utilizing the adjustment feedback data, extracting the real-time operating parameters of the pantograph, including current and voltage values, evaluating the current transmission efficiency and contact quality of the pantograph under different working conditions, and obtaining the current operating parameters; Compare the current operating parameters with the standard operating parameters using the formula: Calculating the performance deviation index ,in, Represents the current operating parameters, represents standard operating parameters, is the number of parameters.

4. The rail vehicle pantograph control system according to claim 1, characterized in that: The steps for obtaining the performance evaluation record are specifically as follows: Extract key operating parameters, including current, voltage and temperature, analyze the impact of operating parameters on operating efficiency under various working conditions, and obtain efficiency impact analysis results; Based on the efficiency impact analysis results, the operating efficiency of the pantograph is evaluated to obtain a performance evaluation log.

5. The rail vehicle pantograph control system according to claim 1, characterized in that: The steps for obtaining the parameter optimization control log are specifically as follows: Analyzing the operating parameter data in the performance evaluation record, including real-time changes in current and voltage, determining the response characteristics of the pantograph under different conditions, identifying key parameters that need to be adjusted in PID control, and obtaining a PID control parameter set; Based on the PID control parameter set, the response efficiency and stability of the pantograph are optimized using the formula: Get new PID parameters ,in, Represents the current control parameter value, is the current performance deviation, is the target performance deviation, It is the adjustment coefficient, which is used to control the step size of PID parameter adjustment; Based on the new PID parameters, the pantograph control process is refined, the operation effect is monitored, and the pantograph operation parameters are continuously optimized to obtain a parameter optimization control log.

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