The computational cost required to simulate the pantograph-catenary dynamic interaction can be a limiting factor in certain applications. Specifically, for Hardwarein-the-Loop (HIL) simulations, real-time capabilities of the software are imperative. In this paper a combination of a modal coordinate approach with an offline/online strategy to build a very efficient simulation strategy is proposed. This novel approach preserves the accuracy of the results, compared with those obtained by classical finite element strategies. Furthermore, a procedure to define and validate a criterion for a priori truncation of the modal basis and an analysis of the effect of explicit treatment of the interaction force are also presented. The results show that the method proposed could be used to perform pantograph HIL tests.
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