Active Control Of Pantograph In Dalian Metro Based On Sliding Mode Control

Good current receiving quality of the arch network system plays a vital role in the safety of train operation.Ensuring continuous and smooth contact between the pantograph and the contact network is an important factor to improve the flow receiving quality between the bow networks.Sliding Mode Control has good control effect for systems with disturbances,and it has great advantage for studying the control of such complex systems as the bow network system.In this paper,the effect of different speeds on the active control of the pantograph is considered,and the Active Control is mainly used to study the control of the pantograph when the train is at variable speed.A Fuzzy PID Controller and a Sliding Mode Controller are introduced for comparison,and it is found that the pantograph Sliding Mode Control effectively improves the dynamic performance of the arch network contact.The research work is as follows:Firstly,the pantograph model is selected as QG-120(B-DLL1&2)single-arm pantograph used in Dalian Metro Line 1 and Line 2,and a simple chain suspension contact network is selected for the study.A binary pantograph-contact network coupling simulation model is built in Simulink,and passive control simulations are carried out for each speed from 5km/h to 80km/h with 5km/h interval.Next,a Fuzzy PID Controller and a Sliding Mode Controller are designed to build a nonlinear pantograph-contact network coupling Active Control model.The contact pressure at each speed from 5km/h to 80km/h with 5km/h interval is simulated and analyzed.The results demonstrate that both Fuzzy PID Control and Sliding Mode Control have a certain control effect on the contact force of the bow-net system,and the Sliding Mode Control is more effective than Fuzzy PID Control after the speed increases.In order to further verify the conclusion,the contact force of the bow net system is compared with that of the Fuzzy PID Controller and the Sliding Mode Controller after adjusting the control during acceleration and deceleration.The simulation shows that the fluctuation of the contact force and vibration frequency of the bow net system are not constant,and the fluctuation will be aggravated with the increase of the train running speed,so the simulation at continuous speed is necessary.By comparing the contact force and bow head displacement,it is concluded that the Sliding Mode Control can improve the contact stability of Dalian Metro pantograph,reduce the damage to the bow network caused by the bow network vibration,and improve the quality of the bow network receiving flow.