A Lumped-mass Model of Overhead Conductor Rail Considering the height of Contact Wire for Active Pantograph

In order to study and improve the Pantograph-Overhead Conductor Rail (POCR) dynamic behavior, the OCR modeling method based on the Finite Element Method (FEM) has been widely applied. The FEM improves the accuracy, but it also requires a large of computational resources at the same time. In contrast, a catenary for the active pantograph control model adopts a relatively simple lumped-mass model. This kind of model takes the periodic stiffness variation of the OCR as the main factor affecting the fluctuation of contact force. However, for OCR, slight changes in the contact wire height will also have a significant impact on the contact force. Therefore, this paper aims to establish a high-precision and fast simulation model of the OCR by improving the Overhead Conductor Rail model used for the design of the active pantograph. Firstly, through the POCR coupling analysis using finite element software, the static stiffness and contact wire height values along the line are obtained, and a four-element lumped mass pantograph-OCR coupling model considering static stiffness and contact wire height is established. Finally, the disturbances are observed by the disturbance observer and fed back to the original model to facilitate the subsequent controller design. The simulation results show that the proposed model can well characterize the contact force fluctuations in the sections where the contact wire height of the OCR changes greatly. Meanwhile, the model based on the disturbance observer can improve the system robustness and provide an effective model basis for the design and verification of the active pantograph.