Research on Improved GPC of Pantograph Considering Actuator Time Delay and External Disturbance

Active control of pantograph is an effective method to improve the current received quality in electrified railway systems. To alleviate the negative impact of time delay in pantograph actuator, a Controlled Auto-Regressive Integrated Moving Average (CARIMA) model was designed for pantograph active control. In conjunction with the Euler-Bernoulli catenary model, an improved generalized predictive control (IGPC) algorithm was proposed, and its stability was analyzed. Then, the control performance was verified and discussed through testing. Subsequently, the effects of external disturbances and time delay on control performance were discussed. The results indicate that the proposed controller with a larger control gain, exhibits better performance in reducing fluctuation in contact force between pantograph and catenary, despite being affected by external disturbance and actuator time delay, it still shows significant control performance.