Research on active control of pantograph and overhead conductor rail system based on nonlinear dynamic model

With the increasing operating speeds of trains powered by overhead conductor rails (OCR), traditional controllers designed for the linear pantograph-OCR system (POCRs) struggle to meet evolving requirements. This paper highlights the need for developing an active controller based on a more sophisticated, nonlinear POCRs model. First, the OCR model is formulated using the modal superposition method, while the pantograph’s multi-body model employs the relative coordinate method. The coupling of POCRs is achieved through the penalty method, and dynamic differential equations are solved using the explicit Newmark method. The accuracy of the dynamic model is subsequently validated against measured data and relevant standards. An active PID controller, designed using the nonlinear POCRs model, is then used to explore the impact of control feedback parameters on contact force control performance. Finally, the fuzzy rules of the traditional fuzzy Adaptive PID (TFA-PID) controller are enhanced, and an improved fuzzy Adaptive PID (IFA-PID) controller is proposed. Compared to the traditional Δ K p rule base, the new Δ K p rule base is more flexible and accurate, addressing the issues in the original Δ K p rule base. As a result, the tracking accuracy and anti-interference capability of the IFA-PID controller are significantly improved. Building on the PID and TFA-PID controllers, the control performance of the IFA-PID controller is improved by 22.28% and 9.02%, respectively.