Robust Predictive Control of High-Speed Pantograph Based on State Estimation

Abstract

Pantograph-catenary system plays an important role in the process of obtaining electric energy for high-speed trains. The continuous and stable contact state between pantograph and catenary is the key factor to ensure high-quality power acquisition for high-speed trains. With the increase of train speed, the vibration between pantograph and catenary becomes more severe, and the current collection quality becomes worse. In order to reduce the vibration of pantograph and improve the current collection quality, a robust predictive control strategy based on state estimation was proposed.Firstly, in order to obtain the pantograph state in complex electromagnetic environment, a method of state estimation of pantograph based on robust Kalman filter was proposed. Then, The integral of contact force tracking error was extended to the state space equation of pantograph catenary system, and a robust predictive controller was designed based on the control variables and output variables constraints. Finally, in the nonlinear pantograph catenary model, the effectiveness and robustness of the controller under different working conditions were verified. The simulation results show that the proposed state estimation method can accurately obtain the pantograph state, and the controller can reduce the standard deviation of pantograph catenary contact force and improve the pantograph catenary current collection quality of high-speed trains when the pantograph parametersare perturbed.