| The traction energy required for high-speed trains is obtained by sliding contact between the pantographs and catenaries,which is unique to the traction power supply system of Rail Transit.The passive control state of Pantograph and catenary,and the low matching between Pantograph type and active control strategy will endanger the safe and efficient operation of the train.In order to meet the increasing demands of high-speed trains,it is necessary to design active control strategies for pantographs that are suitable for operating road scenarios,and to optimize the quality of current flow between the pantographs and catenaries.The research contents of this article include:First,take the SS4 pantograph as the research object and the catenary to build the two-dimensional coupling dynamic model of the catenary,and take the DSA350S pantograph and DSA380 pantograph as the research object and the catenary to construct the three-dimensional coupling dynamics.The model also simulates the simulation output results of the contact pressure between the pantograph and the longitudinal displacement of the bow head when the three types of pantographs are passively controlled at 250km/h high-speed train speed.Before studying the active control strategy of the pantograph system,the controllability rank criterion theorem is used to determine the controllability of the pantograph time-varying system.Secondly,the fuzzy PID controller and LQR optimal controller are designed for the three types of pantograph system coupling models composed of three types of pantographs and catenaries.Among them,fuzzy PID control strategies include one type of fuzzy PID control strategy and interval two type of fuzzy PID control strategy.Through the simulation method of simulink,the optimal effects of the contact force between the pantograph and the longitudinal displacement of the bow head when the train is running at 250km/ h,DSA350S pantograph,DSA380 pantograph and SS4 pantograph are controlled respectively.According to the time-varying characteristics of the pantograph-coupling dynamic model,the LQR optimal control strategy adds a system matrix to the time variable to create a three-dimensional array.The time-varying feedback matrix K(t)of the pantograph time-varying system is proposed.Different optimal feedback matrix K,and by fitting the first term vector w(t)in K(t)with the equivalent stiffness k(t)of the catenary,it is concluded that w(t)and k(t)have a polynomial relationship.Finally,the simulation results of the dynamic response speed of contact force,controller output and other characteristics when the three bow nets are actively controlled,the contact pressure between the bow nets and the longitudinal displacement of the bow head are proved.The results show that by setting the parameters reasonably,the first-type fuzzy PID control,the interval type 2 fuzzy PID control and LQR optimal control can all improve the contactpressure performance and bow head displacement vibration between the bow and net,effectively improve the current quality of the bow and net,and get different control type’s Applicability conclusion. |
