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首页> 外文期刊>Proceedings of the institution of mechanical engineers >Contact force control in multibody pantograph/catenary systems
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Contact force control in multibody pantograph/catenary systems

机译：多体受电弓/类别系统中的接触力控制

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In this paper, a new continuum-based pantograph/catenary model based on the absolute nodal coordinate formulation (ANCF) is proposed and used to develop an effective method to control the contact force which arises from the pantograph/catenary interaction. In the proposed new model, only one ANCF gradient vector is used in the formulation of the pantograph/catenary contact conditions, thereby allowing for using the proposed approach for both fully parameterized and gradient-deficient ANCF finite elements. The proposed contact formulation can also be considered as a more general sliding joint formulation that allows for the use of the more efficient gradient-deficient ANCF finite elements in modeling very flexible cables. A three-dimensional multibody system (MBS) model of a pantograph mounted on a train is developed using a nonlinear augmented MBS formulation. In order to take into account the catenary large deformation, ANCF finite elements are used. The contact between the pantograph and the catenary system is ensured using a sliding joint constraint whereas the contact between the rail vehicle wheels and the train track is modelled using an elastic contact formulation. In addition to the use of the new MBS approach to model the pantograph/catenary interaction, the contact force between the pantograph and the catenary is computed using a simpler lumped parameter model which describes the pan-head and the plunger subsystem dynamics. In order to reduce the standard deviation of the contact force without affecting its mean value, a control actuator is used between the pan-head and the plunger. To this end, three types of control laws for the control action are designed to improve the contact quality both in the transient phase and in the steady state phase of the pantograph/catenary interaction. The first control law proposed features a feedback structure whereas the second and the third control strategies employ a feedback plus feed-forward architecture. In order to demonstrate the effectiveness of the proposed method, the results of a set of numerical simulations with and without the controllers are presented.
机译：本文提出了一种基于绝对节点坐标公式（ANCF）的基于连续体的受电弓/水体模型，该模型用于开发一种有效的方法来控制受电弓/水体相互作用产生的接触力。在提出的新模型中，受电弓/类别接触条件的公式只使用了一个ANCF梯度向量，从而允许对完全参数化和梯度不足的ANCF有限元使用提出的方法。提出的接触公式也可以看作是一种更通用的滑动接头公式，它允许在建模非常柔软的电缆时使用更有效的梯度不足ANCF有限元。使用非线性增强MBS公式开发了安装在火车上的受电弓的三维多体系统（MBS）模型。为了考虑悬链线的大变形，使用了ANCF有限元。受电弓与悬链线系统之间的接触通过滑动接头约束来确保，而铁路车轮与火车轨道之间的接触则通过弹性接触公式来建模。除了使用新的MBS方法对受电弓/类别相互作用进行建模外，受电弓与悬链线之间的接触力还使用更简单的集总参数模型来计算，该模型描述了云台和柱塞子系统的动力学特性。为了减小接触力的标准偏差而又不影响其平均值，在盘头和柱塞之间使用了一个控制执行器。为此，设计了三种类型的控制动作控制律，以改善受电弓/类别相互作用的过渡阶段和稳态阶段的接触质量。提出的第一个控制定律以反馈结构为特征，而第二个和第三个控制策略采用反馈加前馈结构。为了证明所提方法的有效性，给出了带有或不带有控制器的一组数值模拟的结果。

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