A Multi-objective Robust h∞ Controller Design Method for High Speed ​​Pantograph

Abstract

The invention discloses a design method for a high-speed pantograph multi-objective robust H∞ controller, including establishment of a nonlinear pantograph-catenary system model, establishment of a simple catenary model, establishment of a pantograph-catenary system state space model, and multi-objective robust H∞ controller design, etc. Establishing the state space model of the pantograph-catenary system is the basis for calculating the state feedback gain matrix. Considering the random measurement loss has strong practical significance. From the perspective of practical application, it is necessary to control the active control force and the bow lift amount; The operating environment of the network system is complex, susceptible to external environment interference, and the model itself may have modeling errors, so the application of the robust controller ensures the stability and robustness of the system. The method of 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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