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Simulation and Testing for Vehicle Technology pp 277–295Cite as

High-Dynamic Accurate Railway Catenary Emulation by Real-Time Mechanical Impedance Control for Pantograph Testing

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Abstract

The developments in modern hardware-in-the-loop testing tend towards realistically emulating the designated environment of the unit-under-test already in the laboratory. Using the example of an innovative high-speed pantograph test rig it is demonstrated how complex, distributed-parameters system dynamics (catenary), described via coupled partial differential equations can efficiently be transferred into a high-fidelity real-time-capable model. Careful modeling choices and efficient finite element codes provide these real-time capabilities. Then it is shown how the dynamics of the obtained model can be tracked by test rig actuators by using impedance control. A control concept is presented that not only leads to superior performance but also assures consistent energy and momentum exchange in hardware-in-the-loop testing, allowing for yet more realistic results. First experimental results are presented that validate the proposed concepts: impedance control results showcase the advanced catenary emulation functionality, and the efficiency of the real-time-enabled finite element code developments is analyzed. These building blocks deliver superior performance for their upcoming integration into the overall HiL control implementation.

This work was financially supported by the Austrian Research Promotion Agency (project 841331). The authors are grateful for the support of Siemens pantographs team (Siemens AG Austria, MO MLT BG PN).

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Acknowledgments

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Authors and Affiliations

  1. Division of Control and Process Automation, Institute of Mechanics and Mechatronics, Technische Universität Wien, Getreidemarkt 9, 1060, Vienna, Austria

    Alexander Schirrer, Guilherme Aschauer & Stefan Jakubek

Authors
  1. Alexander Schirrer
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  2. Guilherme Aschauer
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  3. Stefan Jakubek
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Corresponding author

Correspondence to Alexander Schirrer .

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Editors and Affiliations

  1. TU Berlin, Berlin, Berlin, Germany

    Clemens Gühmann

  2. IAV GmbH, Berlin, Berlin, Germany

    Jens Riese

  3. MO-F3, IAV GmbH, Berlin, Germany

    Klaus von Rüden

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Schirrer, A., Aschauer, G., Jakubek, S. (2016). High-Dynamic Accurate Railway Catenary Emulation by Real-Time Mechanical Impedance Control for Pantograph Testing. In: Gühmann, C., Riese, J., von Rüden, K. (eds) Simulation and Testing for Vehicle Technology. Springer, Cham. https://doi.org/10.1007/978-3-319-32345-9_20

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  • DOI: https://doi.org/10.1007/978-3-319-32345-9_20

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-32344-2

  • Online ISBN: 978-3-319-32345-9

  • eBook Packages: EngineeringEngineering (R0)

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