Design method for high speed pantograph multiple-target robust H-infinity controller

Abstract

The invention discloses a design method for a high speed pantograph multiple-target robust Hinfinity controller. The method comprises the following steps: establishing a nonlinear pantograph-contact wire system model; establishing a single overhead line system model; establishing a pantograph-contact wire system state-space model; designing a multiple-target robust Hinfinity controller. The establishment of the pantograph-contact wire system state-space model is the basis for calculating a state feedback gain matrix; the random measurement loss has strong practical significance, so that the control on the initiative control force and pantograph bow lifting volume is necessary on the basis of consideration for the practical application; the pantograph-contact wire system is complex in running environment and is easily disturbed by the external environment and the model possibly has a modeling error, so that the application of the robust controller can guarantee the stability and robustness of the system; the method provided by the invention has better control performance and practicability.

Description

technical field [0001] The invention relates to the field of high-speed railway catenary, in particular to a design method for a multi-objective robust H∞ controller of a high-speed pantograph. Background technique [0002] In the electrified railway, the contact pressure between the top pantograph and the catenary is an important index to characterize the current quality of the electric locomotive. The contact pressure reflects the contact quality between the pantograph and the contact wire. If the contact pressure is too small, arcs or electric sparks will occur between the pantograph and catenary, and even cause the pantograph and catenary to go offline. Excessive contact pressure will aggravate the wear of the pantograph head and contact wire, which may lead to bow scraping accidents. Poor contact pressure will not only affect the flow quality of the electric locomotive, but also aggravate the loss of mechanical properties of the pantograph-catenary system, thereby redu...

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Problems solved by technology

[0004] The above control method reduces the fluctuation of contact force to a certain extent, but there are still the following problems: First, the way to obtain the state quantity is not considered. The operating environment of the pantograph-catenary system is extremely complicated, and state measurement is very difficult. The installation of measuring equipment is not allowed; second, the control target is only for the fluctuation of the contact force, in fact, the actuator cannot output any control force, and the lifting amount of the pantograph head is also stipulated in the relevant standards; the third is the control of the controller The robustness cannot be guaranteed, and the pantograph-catenary system is extremely susceptible to interference from the external environment

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