The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Modelling of High-Speed Pantograph and Controller Design Using Disturbance Observer

고속 팬터그래프의 새로운 동적 모형 및 외란관측기를 이용한 제어기 설계

  • Published : 2007.12.01
Download PDF
⟨ Previous Next ⟩

Abstract

The pantograph-catenary system is one of important components for high-speed rail system that are powered electrically. Electrical power is delivered from a catenary structure to the train via a pantograph and thus it is very important to regulate the contact force between catenary and pantograph. Although a lot of research results for active pantograph have been reported, most of them have made an unrealistic assumption that the catenary displacement is constant with respect to the time. In this paper, we present a new pantograph model that regards the catenary displacement as an unknown disturbance input. Moreover, a disturbance observer based controller is proposed to remove the effect of disturbance, i.e., the catenary displacement variation. The computer simulation result shows that the substantial improvement in regulating the contact force can be achieved by the proposed controller.

Keywords

References

  1. D. N. O'Connor, S. D. Eppinger, W. P. Seering, and D. N. Wormley, 'Active Control of High-Speed Pantograph,' Journal of Dynamic Systems, Measurement, and Control, vol. 119, pp. 1-4, Mar., 1997 https://doi.org/10.1115/1.2801209
  2. G. Poetsch, J. Evans, R. Meisinger, W. Kortum, W. Baldauf, A. Veitl, and J. Wallaschek, 'Pantograph/Catenary Dynamics and Control,' Vehicle System Dynamics, vol. 28, pp. 159-195, 1997 https://doi.org/10.1080/00423119708969353
  3. T. X. Wu and M. J. Brennan, 'Basic analytical study of pantograph-catenary system dynamics,' Vehicle System Dynamics, vol. 30, pp. 443-456, 1998 https://doi.org/10.1080/00423119808969460
  4. Teruo Kobayasi, Yosihiro Fujihasi, Tetsuo Tsuburaya, Jyuu-Ihi Satoh, Yasu Oura, and Yasukazu Fujii, 'Current Collecting Performance of Overhead Contact Line-Pantograph System at 425 km/h,' Electrical Engineering in japan, vol. 124, no. 3, 1998
  5. Aldo Balestrino, Ottorino Bruno, Alberto Landi, and Luca Sani, 'Innovative Solutions for Overhead Catenary- Pantograph System: Wire Actuated Control and Observed Contact Force,' Vehicle System Dynamics, vol. 33, pp. 69-89, 2000 https://doi.org/10.1076/0042-3114(200002)33:2;1-1;FT069
  6. Arie Levant, Alessandro Pisano, and Elio Usai, 'Output-Feedback Control of the Contact-Force in High-Speed-Train Pantographs,' proceedings of the 40th IEEE Conference on Decision and Control, Dec., 2001
  7. Tong Jin Park, Byung Jin Kim, and Young Yong Wang, 'A Catenary System Analysis for Studing the Dynamic Characteristics of a High Speed Rail Pantograph,' KSME International Journal, vol. 16, no. 4, pp. 436-447, 2002 https://doi.org/10.1007/BF03185073
  8. Benedetto Allotta, Alessandro Pisano, Luca Pugi, and Elio Usai, 'VSC of a servo-actuated ATR90-type pantograph,' procedings of the 44th IEEE Conference on Decision and Contol, and the European Control Conference, Seville, Spain, Dec., 2005
  9. Y. Choi, K. Yang, W.K. Chung, H.R. Kim, and I.H. Suh, 'On the robustness and performance of disturbance observers for second-order systems,' IEEE Trans. Automat. Contr., vol. 48, pp. 315-320, 2003 https://doi.org/10.1109/TAC.2002.808491
  10. M.T. White, M. Tomizuka, and C. Smith, 'Improved track following in magnetic disk drives using a disturbance observer,' IEEE/ASME Trans. Mechatronics, vol. 2, pp. 63-76, 1997 https://doi.org/10.1109/3516.588624